Automated removal and replacement of vehicle wheels and tires

ABSTRACT

Systems, methods and apparatus for automated vehicle wheel removal and replacement are provided. One system includes a computer system with applications for scheduling the replacement of tires for the vehicle. An electronically controlled lift device and robotic apparatus is configured for interaction with the computer system. The lift device mechanically adjusts arms for placement on lift points of vehicles. The robotic apparatus detects positioning of lug nut configuration for a wheel, removes lug nuts, and then removes the wheel from the wheel hub with gripping arms. The wheel and tire are then handed off to a separate tire changing machine. When a new tire is replaced the robotic apparatus then mounts the wheel to the original wheel hub, and then secures the lug nuts to the lug nut bolts.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/872,666, filed May 12, 2020, which is a continuation of U.S.application Ser. No. 16/386,512, filed Apr. 17, 2019, which claims thebenefit of U.S. Provisional Application No. 62/660,798, filed Apr. 20,2018, which are hereby incorporated by reference in their entirety.

BACKGROUND

Removal of wheels from vehicle wheel hubs and placing old tires with newtires onto the removed wheels is a manual and time-intensive process.Often a vehicle is jacked up or lifted by a manually operated hydrauliclift or vehicle jack. Lug nuts are then manually removed via a torquewrench or tire iron. Once the lug nuts are removed, the wheel and tireare then physically handled and removed from a wheel-hub. Such manualoperations may lead to inefficient operations, and potential physicalhazards to a person removing the wheel and tire from the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is best understood from the following detaileddescription when read with the accompanying Figures. It is emphasizedthat, in accordance with the standard practice in the industry, variousfeatures are not drawn to scale. In fact, the dimensions of the variousfeatures may be arbitrarily increased or reduced for clarity ofdiscussion.

FIG. 1 illustrates an example system for the automated removal andreplacement of a wheel and tire.

FIG. 2A illustrates an example of an automated wheel removal and wheelreplacement station.

FIG. 2B illustrates an example of automated wheel removal and wheelreplacement stations.

FIG. 3 illustrates an example user interface of the computer system.

FIG. 4 illustrates an example user interface of the computer system.

FIG. 5 illustrates an example user interface of the computer system.

FIG. 6 illustrates an example table for a database of the computersystem.

FIG. 7 illustrates system modules of the computer system.

FIG. 8 illustrates an example overview of a method for automated wheelremoval and wheel replacement.

FIG. 9 illustrates an example method for tire change job creation andtire change job scheduling.

FIG. 10 illustrates an example method for vehicle check-in for ascheduled tire change job.

FIG. 11 illustrates an example method for vehicle lifting.

FIG. 12 illustrates an example method for automated wheel removal.

FIG. 13 illustrates an example method for tire removal and replacement.

FIG. 14 illustrates an example method for tire balancing.

FIG. 15 illustrates an example method for automated wheel replacement.

FIG. 16 illustrates a schematic drawing of an example of a vehiclelifting device.

FIG. 17 illustrates a schematic drawing of an example of a vehiclelifting device.

FIG. 18 illustrates a schematic drawing of an example of a vehiclelifting device.

FIG. 19 illustrates a schematic drawing of an example robotic apparatus.

FIG. 20 illustrates a schematic drawing of an example tire gripper.

FIG. 21 illustrates a schematic drawing of an example tire gripper.

FIG. 22 illustrates a schematic drawing of an example vacuum grip plate.

FIG. 23 illustrates a schematic drawing of an example mechanical tirebasket.

FIG. 24 illustrates a schematic illustration of obtaining an image andlug-pattern determination.

FIG. 25 illustrates a schematic illustration of different types of lugnut patterns.

DETAILED DESCRIPTION

Illustrative embodiments of the subject matter claimed below will now bedisclosed. In the interest of clarity, not all features of an actualimplementation are described in this specification. It will beappreciated that in the development of any such actual embodiment,numerous implementation-specific decisions must be made to achieve thedevelopers' specific goals, such as compliance with system-related andbusiness-related constraints, which will vary from one implementation toanother. Moreover, it will be appreciated that such a developmenteffort, even if complex and time-consuming, would be a routineundertaking for those of ordinary skill in the art having the benefit ofthis disclosure.

Among other features, this specification describes a system toautomatically remove and dismount a wheel from a vehicle for tirereplacement, and then replace the wheel once a tire has been mounted.

Embodiments of the disclosure include a system, method and computerreadable media for controlling and/or scheduling control of a roboticapparatus from applications operable on two or more different remotedevices. The system receives one or more control parameters from anapplication user interface displayed by the two or more remote devices.Each device receives information via user input from the user interface,and the parameter data is sent by the device, and is received by thesystem and stored in a data repository. The system then uses the storedparameter data to direct or control the operations of a roboticapparatus according to the parameter data received from each device. Forexample, the parameter data may be specific to a particular type ofvehicle. The system determines the operation of the robotic apparatusbased on the type of vehicle. The system instructs the robotic apparatusto perform different operations for different types of vehicles.Further, during operation of the robotic apparatus, the system maytransmit to the device originating the control parameters, sensor dataobtained by the robotic apparatus.

Embodiments of the disclosure include a system, method and computerreadable media for performing automatic wheel removal and tirereplacement. The system determines a wheel fastener pattern for a firstwheel of a first vehicle. Based on the determined wheel fastenerpattern, the system directs a robotic apparatus to remove three or morewheel fasteners from a first wheel hub of the first vehicle. The roboticapparatus removes the first wheel from the first wheel hub of the firstvehicle. The wheel is handed off to a tire changing removal andreplacement station. The robotic apparatus retrieves the first wheel andreplaces the first wheel onto the first wheel hub of the first vehicle.Based on the determined wheel fastener pattern, the system directs therobotic apparatus to secure the three or more wheel fasteners onto thefirst wheel hub of the first vehicle.

Embodiments of the disclosure include a system, method and computerreadable media for performing automatic wheel removal and tire rotation.The system determines a wheel fastener pattern for a first wheel of afirst vehicle. Based on the determined wheel fastener pattern, thesystem directs a robotic apparatus to remove three or more wheelfasteners from a first wheel hub of the first vehicle. The roboticapparatus removes the first wheel from the first wheel hub of the firstvehicle, and places the wheel in a staging location. One or more roboticapparatus removes the other wheels from the other vehicle's wheel hubs,and places the removed wheels in a staging location. The systemdetermines a rotational pattern for placing the wheels back onto thevehicle's wheel hubs. Based on the determined rotational pattern, theone or more robotic apparatus place the wheels onto a different wheelhub than the original wheel hub from which they were removed.

In one embodiment, there is a system and computer-implemented method forvehicle wheel removal and replacement. The system determines a wheelfastener pattern for a first wheel of a first vehicle. Based on thedetermined wheel fastener pattern, the system removes using a roboticapparatus three or more wheel fasteners from a first wheel hub of thefirst vehicle. The system using a robotic apparatus, removes the firstwheel from the first wheel hub of the first vehicle. The system usingthe robotic apparatus replaces the first wheel onto the first wheel hubof the first vehicle. The system using the robotic apparatus thenapplies the three or more wheel fasteners onto the first wheel hub ofthe first vehicle.

In a further embodiment, based on the determined wheel fastener pattern,the system using the robotic apparatus removes three or more wheelfasteners from a second wheel hub of the first vehicle. The system usingthe robotic apparatus, removes the second wheel from a second wheel hubof the first vehicle. The system using the robotic apparatus, replacesthe second wheel onto the second wheel hub of the first vehicle. Thesystem using the robotic apparatus then applies the three or more wheelfasteners onto the second wheel hub of the first vehicle.

As used herein, a lug nut is a fastener used to secure a wheel to avehicle wheel hub via threaded wheel bolts. Typically, 4, 5, 6 or 8 lugnuts are used to secure the wheel to the wheel hub. Some wheel fastenerdesigns use lug bolts which screw into a tapped (or threaded) hole inthe wheel's hub, rotor, drum brake or disk. For purposes of thisdisclosure, application of a lug nut contemplates application to lugbolts also.

System

Referring to FIG. 1, an exemplary system 100 for the automated removaland replacement of a wheel and tire is disclosed. The system 100 can bea system of one or more computers 102, 104, 106, 108, 110 (generallyreferred to as 102) including software executing a method system on oneor more computers 102, which is in communication with, or maintains oneor more databases 112 of information. While the database 112 is depictedas coupled with one computer 110, the database may be distributed,replicated in whole or part, and communicatively coupled to othercomputers 102. For example, portions or subsets of data may bedistributed to various computers 102 to allow for local database accessof information stored on database 112. The information stored by thesystem 100 may include, but is not limited to, the following databases:

Customer Database, including fields such as cust_record_id,customer_name, customer_address, customer_phone_number.

Customer Vehicle Database,

including fields such as cust_veh_record_id, vehicle_make,vehicle_model, vehicle_identification_number, vehicle_license_plate,vehicle_year, vehicle_color, desired_tire_pressure, desired_gas_type,wheel_locks.

General Vehicle Database, including fields gen_veh_record_id,vehicle_make, vehicle_model, vehicle_year, lifting_point_coordinates,lifting_height, axle_distance, tpms_type, lugnut_configuration.

Inventory Database, including fields such as inv_record_id,tire_quantity, tire_size, tire_brand, manufacturer, speed_rating,pressure_setting, location_stored, location_coordinates.

Scheduling Database including fields such as sched_record_id,cust_record_id, cust_veh_record_id, schedule_appointment_date_and_time,front_tire_SKU_numbers, rear_tire_SKU_numbers.

The system 100 may include other tables, and database files, and maystore images and other sensor data obtained by the system 100 asdescribed herein.

The system 100 generates tire change jobs based on received customerinformation and customer vehicle information. The system 100 may use thereceived information as control parameters to direct the control oroperation of a vehicle lifting device for lifting vehicles and roboticapparatus for lug nut and wheel removal and replacement as disclosedherein. The system 100 may receive and store images associated with acustomer vehicle in a database 112. The system 100 uses image evaluationprocesses to perform object detection, and/or create 3-dimensional modelof a wheel of a vehicle. The system 100 interacts and is communicativelycoupled with one or more vehicle lifting devices 140, 142, 144(generally referred to as 140), with one or more robotic apparatus 150,152, 154 (generally referred to as 150) and one or more tireremoval/replacement machines 160, and one or more tire balancingmachines 170. The system 100 may include multiple interfaces 122, 124,126, 128 (generally referred to as 122) based on the particularfunctionality to be performed by the system 100. For example, the system100 may include a customer interface for receiving customer and vehicleinformation; an operator interface for control and operation of thevehicle lifting device 140, the robotic apparatus 150, the tireremoval/replacement machines 160, and/or the tire balancing machines170. Additionally, other interfaces may be utilized.

In one example, a user interface receives information to schedule thereplacement of tires for a vehicle. This information is stored in a datarepository of the system. The architecture of the system allows forinteraction with multiple remote devices, such as tablet, cellularphone, laptop, other mobile internet connected devices, and the like. Asoftware application, program, web page or other processes may beexecuted on the remote devices. The system 100 retrieves and stores theinformation which is obtained from multiple users with respect toscheduling a tire change job. Each of the users are providing controlparameters for the operation of the robotic apparatus 150 that will belater used to perform the automated lifting, and wheel removal andreplacement onto their vehicle.

The system 100 may use a computer network 126 for communication to oneor more computers 102 of the system 100. As described herein, thecomputer network 120, may include, for example, a local area network(LAN), a virtual LAN (VLAN), a wireless local area network (WLAN), avirtual private network (VPN), cellular network, wireless network, theInternet, or the like, or a combination thereof.

Vehicle lifting devices 140 may be communicatively coupled to the system100 via computer network 120. The vehicle lifting devices 140 mayreceive instructions, commands and other data from the system 100. Thevehicle lifting device 140 is further described herein. The vehiclelifting device 140 may include different types of sensors to obtainsensor data describing a vehicle. The sensor data obtained by thevehicle lifting device 140 may be transmitted to the system 100 foranalysis and/or storage into a database 112. The vehicle lifting device140 provides a mechanism to physically lift a vehicle in a verticalmanner according to a predetermined height value.

Robotic apparatus 150 may be communicatively coupled to the system 100via computer network 120. The robotic apparatus 150 may receiveinstructions, commands and other data from the system 100. The roboticapparatus 150 is further described herein. The robotic apparatus 150 mayinclude different types of sensors integrated into the robotic apparatus150 to obtain sensor data describing the vehicle. The sensor dataobtained by the robotic apparatus 150 may be transmitted to the system100 for analysis and/or storage into a database 112. The roboticapparatus 150 provides a mechanism to physically remove a wheel from avehicle and physically replace the wheel back onto the vehicle. Asfurther described, the robotic apparatus 150 may have differentconfigurations of tooling ends that allow for the removal andreplacement of wheel fasteners and the removal and replacement of thewheel from a vehicle wheel hub.

One or more tire removal machines 160 may be communicatively coupled tothe system 100 via computer network 120. The tire removal machine 160may receive instructions, commands and other data from the system 100.The tire removal machine 160 may include different types of sensorsintegrated into the tire removal machine 160 to obtain sensor datadescribing a wheel and/or tire. The sensor data obtained by the tireremoval machine 160 may be transmitted to the system 100 for analysisand/or storage into a database 112. The tire removal machine 160 mayreceive one or more parameters, such as wheel size, tire size, tirepressure monitoring system (TPMS) location, desired tire inflation PSIvalue and/or a value for a type of gas such as air, or nitrogen to beused for tire inflation.

One or more tire balancing machines 170 may be communicatively coupledto the system 100 via computer network 120. The tire balancing machine170 may receive instructions, commands and other data from the system100. The tire balancing machine 170 may include different types ofsensors integrated into the tire balancing machine 170 to obtain sensordata describing a wheel and/or tire. The sensor data obtained by thetire removal machine 170 may be transmitted to the system 100 foranalysis and/or storage into a database 112.

FIG. 2A illustrates an example of an automated wheel removal and wheelreplacement station 200. The example illustrates a vehicle 210positioned over a vehicle lifting device 140 (not shown). In oneembodiment of the station 200, two robotic apparatus 250 (also referredto as 150 in FIG. 1) are positioned in a proximate location where therobotic apparatus 250 can interact with a vehicle 210 and manipulate thewheel fasteners, remove the wheels, and replace the wheels.Additionally, depicted are wheel holding stations 256 where the roboticapparatus 250 may place a removed wheel onto the wheel holding station256, and/or where a wheel may be positioned in advance of the wheelbeing placed back onto the vehicle 210. The actual location of the wheelholding station 256 may be positioned in any convenient location foroperation of the robotic apparatus 250.

Additionally, a control station 258 may be used for control andoperation of the robotic apparatus 250. The control station may be usedfor manual and/or automated control of the robotic apparatus 250. Thecontrol station 258 may receive instructions, commands and other datafrom the system 100 (as depicted in FIG. 1). For example, a userinterface of the system 100 may provide for instructions to directlycontrol the robotic apparatus 250. The control station 258 may becommunicatively coupled to control the robotic apparatus 250.

Also, depicted are tire balancing machines 270 that are communicativelycoupled to the system 100 (as depicted in FIG. 1).

FIG. 2B illustrates an example of automated wheel removal and wheelreplacement stations. This example illustrates a physical structure 220with three bays 222, 224, 226. The physical structure 220 includesmultiple robotic apparatus 250 (also referred to as 150 in FIG. 1),multiple control stations 258, multiple wheel holding stations 256, andmultiple tire balancing machines 270. This example illustrates aconfiguration where multiple vehicles 210 may be serviced by the roboticapparatus 250 for automated wheel removal, tire change and wheelreplacement.

Referring to FIG. 3, an exemplary application user interface (300) ofthe system 100 is disclosed. The application user interface 300 may bepresented via a user computing device using a browser, other networkresource viewer, desktop or mobile application, or otherwise.

In this example, the system 100 (as depicted in FIG. 1) generates theuser interface 300 via an application program or module. The userinterface 300 may be used for creating and scheduling a tire change job.The user interface 300 includes a portion of the user interface 310 forobtaining vehicle information. The user interface 300 additionallyincludes a portion 320 for receiving a selection of a tire. The userinterface 300 additionally includes a portion 330 for choosing aphysical location for the changing of a tire. The user interface 300additionally includes a portion 340 for selecting a date and time forscheduling the tire change job. The user interface 300 show availableappointment dates and times. Times that are not available are either notshown via the user interface 300, or are displayed but are notselectable by a user.

The system 100 obtains customer order information through a respectivewebsite or device application. (An application can herein be describedby as a software program that runs on a computer or mobile device.) Auser may interact with a device 102 (as depicted in FIG. 1) (e.g. phone,tablet, computer, etc.) that runs and thereby executes an application,for example that has been downloaded from an online application store.The application can generate interactive user interfaces forpresentation to the user. Via a user interface of the system 100, a usercan specify their vehicle make, model, and year 310. The system 100prompts the user to provide three sets of information about theirvehicle. Namely, the system 100 requests user input on the make, model,and year of the user's respective vehicle. The information is thenstored within the database of the system. In response to receiving therequested information of the user's vehicle, a list of available tiretypes may be presented for selection based on the vehicle informationreceived by the system 100.

The system 100 may prompt the user for additional information, whereinthe user selects and purchases a desired tire model(s) via the userinterface 320. Additionally, the system 100 prompts the user to inputwhich tire(s) is/are going to be replaced. (i.e. the front driver's sidetire, front passenger side tire, rear passenger side tire, etc.) Thesystem 100 stores this set of information within the database 112 andcontinues the user input process.

The system 100 may request an additional information regarding whichcommercial location 330 the user prefers to have their tires changed.The application prompts the user for access to their device's (forexample, a mobile a phone, or other mobile computing device) GPS(“Global Positioning System”) or location services, to locate thenearest locations where the user may have a tire change job performed.The system 100 determines based on the location of the device andprovides a listing of one or more locations for the tire replacement.

Optionally, the user may deny access to the application, and insteadmanually input a location's address as well to be provided withlocations where a tire change job may be performed. The user interfacedisplays nearby locations and their distances, and/or distances from theuser's address or location, and then the user selects a desired locationfor the tire change job, and that information is then stored in thesystem's database.

The system 100 prompts the user to input information about their desiredappointment date and time 340. The system 100 checks for available datesand store hours listed by the commercial location for appointment. Onceidentified, the system 100 presents the appointment slots to the user inthe respective device's interface. The system then stores the selectedappointment date and time slot entered by the user into the database.

The system 100 additionally may include other user interfaces to providea user information about the status of a scheduled job. Additionally,the system 100 may include additional user interfaces allowing otherusers to interact with the system, for example back-office oraccounting, technical operators for control or monitoring of the vehiclelifting device 140, robotic apparatus 150, tire removal machine. Theforegoing list of user interfaces is for exemplary purposes, and notmeant to be limiting.

The system 100 may include a user interface of a mobile applicationadapted for use on a mobile device. The mobile application may beconfigured to capture images of the vehicle. The user interface of themobile device may instruct a user to capture one or more of a frontalimage of the vehicle, an image for each of the wheel/tire of thevehicle, and an image of the license plate. The mobile application maysubmit the images for storage and subsequent processing by the system100.

The system 100 may receive an image of the tread of a tire and thesystem 100 may determine that the tire needs to be replaced. Forexample, in one embodiment, one or more images may be received by thesystem 100 and the system 100 determines tread depth by creating a3-dimensional model of the tire from the image. Alternatively, a knownobject, such as a quarter, may be placed into the tread and an imagetaken by the application. The system 100 may then identify the depth ofthe quarter in the tread based on the known size of the quarter. Thesystem 100 compares the size of the quarter to the portion of coverageof tread. The determined portion of coverage of the quarter then may beused to calculate a distance from an intersecting line across thequarter to a perpendicular line to the edge of the quarter. While aquarter is used in the example, other objects may be use as well.Additionally, a ruler or other measurement device may be placed in thetread and an image of the measurement device may be taken. The system100 then evaluates the image to determine the measurement markings ofthe device, and calculates the depth of the tread on the tire. The treadmeasurement is then stored by the system in the database 112, andassociated with the vehicle id, and the respective tire (for example,front left, front right, rear right, and rear left)

Additionally, the system 100 may determine a size of the tire and thebrand and model of the tire. The system 100 may determine a height ofsidewall of the tire based on analysis of the image. The system 100 mayalso determine the diameter of the wheel on which the tire is mounted.

Additionally, the system 100 may determine the size of the tire byevaluating markings on the tire that identify the tire size. Forexample, an obtained image of the tire may depict letters on the tire,such as P215/65R15. The system 100 may use optical character recognitionto identify the lettering and symbols on the tire. These letters andsymbols may be used by the system 100 to identify the size of the tire.The first number 215 represents the section width of the tire, inmillimeters. This is the measurement of the tire at its thickest point.The second number 65 refers to the sidewall aspect ratio of the tire,ratio between tire width and height. The third number 15, represents thediameter, in inches, of the wheel on which the tire is mounted. Thesystem 100 may parse the optically recognized characters to determinethe tire size. The system 100 may recommend, and/or generate a list ofsuitable tires for the vehicle based on the optically recognizedcharacters. Additionally, a user interface of the system 100 may beprovide a size of the tire to be selected. Moreover, the system 100 mayoptically read other markings, characters or text on the vehicle,placards or tires indicating a particular tire size for use with thevehicle.

Referring to FIG. 4, an exemplary application user interface 400 of thesystem 100 is disclosed. The user interface 400 depicts active automatedtire change operations in progress 402, 404, 406 and other scheduledtire change jobs 410, 412, 414. The user interface 400 may receive aselection of an upcoming scheduled appointment, for example a selectionof an appointment 410. The user interface in response to the selectionmay depict vehicle check-in information in a portion of the userinterface 420.

The user interface 400 may receive an input of “marked as arrived” for avehicle via user interface (UI) affordance 422. The user interface 400may display one or more of the following information: an image of thevehicle, a description of the vehicle, color of the vehicle, whether thevehicle has wheel locks, the license plate of the vehicle.

The user interface 400 may receive an input via UI affordance 424 tocontact a person associated with the tire change job. In response toreceipt of an input, a device of the system 100 may automaticallyinitiate a call, text message, e-mail or other communication type to thevehicle owner, or person, associated with the tire change job.

The user interface 400 may receive an input via UI affordance 426 tomark the vehicle as a not arriving for a scheduled tire change job. Inresponse to the input, the system 100 updates the database that thevehicle owner, or person, associated with the tire change job has notshown up for the scheduled tire change job. The system 100 may in turncompletely cancel the job, thus releasing particular tires from a holdstatus in inventory to a status of available. Alternatively, the system100 may send a communication via text message, electronic mail,automated message or other communication indicating that the scheduledappointment was missed, and requesting whether the vehicle owner wouldlike to reschedule the tire change job to another time. The user maythen be presented with a user interface allowing a selection ofavailable dates and times for the previous location selected by theuser.

Referring to FIG. 5, an exemplary application user interface 500 of thesystem 100 is disclosed. The system 100 may provide status and otheroperation information of the robotic apparatus 150, vehicle liftingdevice 140, tire changing machine 160, and/or the tire balancing machine170. In this example, portions 510, 520, 530 of the user interface 500depict status of different tire change jobs in progress. The userinterface 500 provides an informative panel of various information, forexample process status, error conditions, time to completion of a job,and time that a particular tire change job was started.

In the example user interface, a robotic apparatus 150 is shown as notbeing able to locate a particular bolt pattern for a wheel. This errorcondition causes the system 100 to stop the automated wheel removalprocess and transmit information to the user interface 500 about theerror condition. The user interface 500 includes a dynamic portion 540of the user interface 500 that provides unique UI affordance 542, andreal-time photos or video from the robotic apparatus, 544 based on theparticular error condition or problem determined by the system 100.Responsive to the particular error of not being able to locate a boltpattern, the user interface may then provide a manual locate UI button,or trouble shoot UI button to resolve the error condition. The systemmay use an image of the wheel, and determine the location of the boltfrom the image in real-time.

FIG. 6 illustrates an example table for a database 112 of the system100. This table 600 represents a table that includes information forautomating vehicle lifting, vehicle wheel removal/replacement. Forexample, table 600 may include a unique vehicle identifier, the make ofa vehicle, the model of the vehicle, the lug-nut configuration of thevehicle, a vehicle lift height, lifting points coordinates, axledistance. The example table illustrates an embodiment of the GeneralVehicle Database as described above.

FIG. 7 illustrates various modules 740-760, or processes, that thesystem 100 may perform. The modules 740-760 may be performed by anynumber of processors, and by any number of computers. The modules may beexecuted as software instructions, such as a daemon or service, by acomputing device 710 by hardware processor 720. Executable instructions,programs or other code may be stored in a machine-readable storagemedium 730. A machine-readable storage medium, such as 730, may includeboth volatile and nonvolatile, removable and non-removable media, andmay be any electronic, magnetic, optical, or other physical storagedevice that contains or stores executable instructions, data structures,program modules, or other data accessible to processor 720, for examplefirmware, erasable programmable read-only memory (EPROM), random accessmemory (RAM), non-volatile random access memory (NVRAM), optical disk,solid state drive (SSD), flash memory chips, and the like. Themachine-readable storage medium may be a non-transitory storage medium,where the term “non-transitory” does not encompass transitorypropagating signals. The machine-readable storage medium may be encodedwith executable instructions and/or program code for performing themethods described herein. While the above describes discrete modules,the modules above may be combined in any manner to perform the methodsdescribed herein.

FIG. 8 illustrates an example method 800 for automated wheel removal,tire change, and wheel replacement. In general, the method begins (block810) with a tire change job being created and scheduled (block 820). Themethod then checks in a vehicle for a scheduled tire change job (block830). The method then lifts the vehicle with a vehicle lifting device(block 840). The system 100 determines a lug-nut pattern for the vehicle(block 850). The lug nuts and the wheel are removed using a roboticapparatus (block 860). The removed wheel is positioned to a tire removaland replacement machine where the tire is removed from the wheel, and anew tire placed onto the wheel (block 870). The wheel with the new tireis then placed on a balancing machine and balanced with the applicationof weights to the wheel (block 880). The wheel is then placed back ontothe vehicle, and the lug nuts are replaced using the robotic apparatus(block 890). When all wheels are secured onto the vehicle, then thevehicle is lowered by the vehicle lifting device (block 892).

Job Scheduling

As described in FIG. 7, the system 100 may include module 740 whichperforms operations for the creation and scheduling of tire change jobs.FIG. 9 and the description below further describe a method 900 for thetire change job creation and scheduling. In general, the method 900begins (block 910) with the receipt of vehicle identifying informationfrom a user interface (block 920) of the system 100. A user interface ofthe system 100 receives input for selection of the tire types (block930). The vehicle information and tire types are stored in a database(block 940). A selection for date and time for a tire change job isselected via the user interface. The tire change job is then scheduled(block 950).

For example, some of the information received via the user interface bythe system 100 includes one or more of the following customerinformation and vehicle information. The customer information mayinclude customer number, address, billing information. The vehicleinformation may include year, make and model of the vehicle, thevehicle's license plate number, vehicle identification number and color.

The system 100 determines a suggested tire type based on the providedvehicle information. For example, the system 100 may include aninventory determination process that interacts with a database 112having stored information describing different tires that may fit avehicle's wheel, and retrievable from the database 112 based on thevehicle year, make and model.

The system 100 determines whether the requested tires are available ininventory. The system 100 may also be communicatively coupled to aremote inventory system, such as a system of a tire supplier,distributor, reseller or manufacturer. The system 100 may search theremote inventory system to also determined tire availability, and placeorders for tires. Optionally, the system 100 may determine if therequired tires are not available in inventory, and automatically placesan order for the required tires. The system 100 may determine a datewhen the required tires will be received at a physical location. Thesystem 100 may determine a tire change job based on the availability ofthe requested tires and schedule a tire change job when the tires willbe received at the physical location. The date of the tire change job isprovided to the user via one or more communications methods, such as viaa user interface, an e-mail message, SMS message, a social mediaapplication, or otherwise. The user interface may show dates where thetires can be delivered to inventory for a tire change job.

Inventory.

When the ordered tires are physically received, the tires are eitherscanned if the tire has a bar code, and the system 100 updates the tireinventory with an updated quantity for that tire type, and/or the system100 receives a manual input that updates the quantity for the respectivetire type. Each of the type of tires may have an associated stockkeeping unit (SKU) for inventory management purposes.

Ideally, the tires are stored in a physical location where a robotictire retrieval apparatus may obtain them. The system 100 may storeinformation about a physical location of the tires in inventory. Forexample, the system 100 may store bin data with row and column positionsof where a tire is located. The robotic tire retrieval apparatus may beinstructed by the system 100 to retrieve a particular tire based on atire retrieval event. As discussed below, a tire retrieval event may be,for example, a vehicle check-in event when the system 100 determinesthat a vehicle has arrived for a scheduled tire change job.

The system 100 identifies the tires as being dedicated to a particulartire change job and update the database 112 to reflect a statusindicating the tires are reserved. The system 100 may include othermarking apparatus or devices to temporarily mark a tire as reserved.When tires are received or delivered to a physical location, if receivedtires when scanned in for inventory are identified as being required fora particular job, then the system 100, may use a marking or printingdevice, to mark or print on the tire a code or alphanumeric designationfor the particular tire change job. If a tire change job is canceled asdiscussed below, then the system 100, may locate the physical tire andremove the tire change job identifier from the tire.

Reminders.

The system 100 may generate reminders and send them to a particular userassociated with a tire change job. The reminders may be sent to theuser, for example, two days before the scheduled tire change job. Thesystem 100 then may receive a confirmation that the user will attend thescheduled tire change job. If the system does not receive aconfirmation, then the system 100 may send an electronic notification tothe user indicating that the tire change job has been canceled. If atire change job has been canceled, then the system 100 releases theparticular required tires to available inventory by updating theInventory Database.

Vehicle Check-in

A vehicle arrives at a physical location for a scheduled tire changejob. The physical location ideally is a structure with one or more bayswhere a vehicle may enter the bay for replacement of the tires.

As described in FIG. 7, the system 100 may include module 742 whichperforms operations for checking in a vehicle for a scheduled tirechange job. FIG. 10 and the description below further describes a method1000 for checking in a vehicle for a scheduled tire change job. Ingeneral, the method 1000 begins (block 1010) with the receipt of anindication of arrival of a vehicle (block 1020). For example, viareceipt of an input via a user interface of the system 100, and/or anautomated detection of the arrival of a vehicle. The system 100optionally obtains image information describing the vehicle (block1030). For example, digital images of the wheels may be taken by amobile device and submitted to the system 100.

The system 100 receives a vehicle check-in indication. The system 100may receive information about the arrival of the vehicle throughautomated processing, partially-automated processing, or by receipt ofmanually input information via a user interface of the system 100. Thephysical location may have one or more cameras that obtain images ofarriving vehicles. Optionally, a mobile device may be used to obtainimages of the vehicle. The system 100 receives images of the vehicle anddetermines if the vehicle is a vehicle slated for a scheduled tirechange job. For example, the system 100 may use computer visiontechniques to identify, the color, size, license plate number, or othercharacteristics of the vehicle. The system 100 may determine there is acolor match, license plate match, vehicle size match, etc. The system100 may determine a confidence level or value that the observed vehicleis likely the vehicle scheduled for a tire change job, and if theconfidence level is met or exceeded, then the system 100 performs avehicle check-in event.

In response, to checking in a vehicle, the system 100 initiatesretrieval, via a tire retrieval apparatus, to pull the specific tiresfrom inventory based on the tire change job information. The check-in ofthe vehicle may initiate a vehicle check-in event causing the system 100to direct a robotic tire retrieval apparatus to retrieve from a storedlocation, the required tires for the scheduled tire change job. Forexample, the check-in event causes the system 100 to instruct a tireretrieval robotic apparatus to obtain the particular tires for the tirechange job. As discussed above, the tires may have been marked with acode or alphanumeric designator. The system 100 may confirm theretrieved code is correct when the tire retrieval robotic apparatusretrieves the tire.

Also, the system 100 may before the vehicle is checked in, initiateretrieval of tires from inventory prior to the vehicle's arrival for ascheduled tire change job. For example, the system 100 may determine atime for the performance of a tire change job. The system 100 mayinitiate retrieval of the tires based on a predetermined time amount,such as x minutes prior to the scheduled tire change job. For example,if a tire change job is scheduled for 2:00 p.m. on a particular date. Onthe particular date, the system 100 may initiate retrieval of the tires30 minutes, or some other time period, prior to the scheduled tirechange job.

Additionally, location information of the particular tires needed forthe tire change job may be displayed via a user interface, thus allowingmanual retrieval of the tires from an inventory location. Lastly, thevehicle check-in process may include confirmation for check list items(block 1050) to be completed. For example, a user interface of thesystem 100 may present a dynamic set of items that should be confirmedor validated by a user. For example, the user interface may presentconfirmation items, especially for aspects of the process that may needto be performed manually:

-   -   a. Are all hub caps removed?    -   b. Are all tire valve caps removed?    -   c. Do any of the wheels have wheel locks?

Once the check list items have been marked as completed, the system 100may initiate the check-in event. In addition to causing the retrieval ofthe tires, the check-in event may cause the robotic apparatus 150 and/orthe vehicle lifting device 140 to perform preparatory operations, and/ormove into an initial position. For example, in response to the check-inevent, the vehicle lifting 140 device may activate sensors and maneuverportions of the vehicle lifting device to positions for the particularvehicle being checked-in, such as moving lifting sections of the vehiclelifting device 140 to locations for lifting points of the check-invehicle in advance of the vehicle moving over the vehicle liftingdevice. Also, in response to the check-in event, the robotic apparatus150 may activate sensors, and/or select an appropriate socket based onthe size of lug nut for the particular vehicle as determined by thesystem 100 from a general vehicle database, or as determined from aninput from a user interface used to check-in the vehicle. Additionally,the robotic apparatus 150 may move into a location suitable for the lugnut and wheel removal operation. For example, if two robotic apparatus150 are used on one side of a vehicle, the system may move the roboticapparatus to positions based on the axle distance obtained from thegeneral vehicle database for the particular vehicle.

Wheel Assessment.

During the vehicle check-in, or later in the process during wheelremoval operations, images of each of the wheels and tires may beobtained the system 100. Additionally, as previously discussed images ofthe wheels and tires may be obtained by a user interface of the system100 via a mobile application. The obtained images may be analyzed by thesystem 100. The system 100 receives the images and stores them in adatabase 112 and associates the images to the particular scheduled tirechange job. An image may be associated with the location of the vehicleof where the image was taken, for example a first image may bedesignated front left side, a second image may be designated left rearside, a third image may be designated right front side, and a fourthimage may be designated right rear side. The system 100 may analyze theimages and determine whether the wheels are suitable for automated wheelremoval and may also determine whether the wheel has any pre-existingdamage. For example, the system 100 may analyze an image to detectanomalies in the wheel that indicates damage, or that the wheel iscovered in dirt or grime. If these anomalies are detected, the system100 may indicate the particular wheel or vehicle is not suitable forautomated wheel removal. A user interface of the system 100 may displayan indication that a particular wheel is not suitable for wheel removaloperations.

Vehicle Lifting

As described in FIG. 7, the system 100 may include module 744 whichperforms the method of lifting a vehicle with a vehicle lifting device.FIG. 11 and the description below further describes a method 1100 oflifting a vehicle with a vehicle lifting device. Various embodiments ofvehicle lifting devices are described herein. In general, the method1100 begins (block 1110) with the vehicle lifting device 140 determiningvehicle lifting points (block 1120). The vehicle lifting device 140positions lifting arms and connects with vehicle lifting points (block1130). The vehicle lifting device 140 lifts the vehicle to a desiredheight (block 1140). The vehicle lifting device 140 determines the tiresare lifted off of the ground (block 1150). After the tire change job iscompleted, the vehicle lifting device 140 lowers the vehicle (block1160) back to the ground.

The vehicle is maneuvered over the vehicle lifting device 140. Incertain embodiments, the vehicle lifting device 140 is affixed to theground, or alternatively the vehicle lifting device 140 may be mobileand moved under a stationary vehicle. The vehicle lifting device 140 iscommunicatively coupled to the system 100. The actuation of the vehiclelifting device may be mechanical, pneumatic, hydraulic or electric. Inone embodiment, the vehicle lifting device 140 has articulating armswith lifting sections that contact lifting points of an undercarriage ofa vehicle. The vehicle lifting device 140 has at least two liftingsections that are maneuvered to vehicle lifting points.

The system 100 determines the location of the vehicle lifting points.The vehicle lifting device 140 is operatively connected to the system100. The system 100 stores vehicle lifting point locations for multiplevehicles, for example, a general vehicle database 112 may includelocations of where the lifting sections should be placed. The database112 may store the locations, for example as dimensional coordinatepositions 100. The system 100 instructs the lifting sections of thevehicle lifting device 140 to maneuver to lifting locations. The system100 may identify the vehicle lifting points of the vehicle usingcomputer vision, and obtain images describing the undercarriage of thevehicle. The system may recognize or determine suitable locations underthe vehicle, and identify the locations as vehicle lifting points.

In certain cases, the general vehicle database may not have liftinglocations for a particular type of vehicle. In this case, the vehiclelifting device 140 is placed into an observation mode, where sensorscoupled to the lifting sections obtain information about theundercarriage. In one embodiment, the arms move to a first location, andthen perform an articulating or sweeping motion when the system 100monitors for a suitable lifting point. Once found, the system 100 storesdimensional information about the lifting points and associates thelifting point dimensions with the particular, year, make and model ofthe vehicle. In this manner, the system 100 may later use the liftingpoint locations for similar vehicles.

In another embodiment, the system 100 may obtain digital images, such aslive streaming video, via cameras coupled to the arms of the vehiclelifting device 140. The video may be displayed via a user interfacewhere an operator may instruct, via the interface, movement of one ormore arms to a lifting location. The system 100 may receive confirmationvia user input that the arms have been positioned, and in response tothe input the arms of the vehicle lifting device 140 may be locked intoplace. The system 100 may store dimensional information about thelifting points and associate the dimensional information with theparticular, year, make and model of the vehicle. In this manner, thesystem 100 may later use the lifting locations for similar vehicles.

Once the arms and lifting sections are maneuvered into place, the system100 instructs the vehicle lifting device 140 to lift the vehiclevertically. The lifting section of the vehicle lifting device 140 thenphysically connects with the lifting points of the vehicle. The system100 then continues actuating the lifting section of the vehicle liftingdevice to cause vertical movement of the vehicle. The vehicle liftingdevice 140 stops at a predetermined height. A user interface may receiveoperator input and the system 100 may incrementally move the vehiclelifting device upwards or downwards. Additionally, the user interfaceincludes a manual override input to stop movement of the vehicle liftingdevice 140. If the manual override input is received, then the system100 causes the vehicle lifting device 140 to immediately stop.

The system 100 may use sensors to obtain information about whether thevehicle tires have been lifted off of the ground. For example, lightdetection, proximity sensors, digital cameras, or other sensors mayobtain information. The system 100 then determines if there is athreshold level of spacing between a tire and the ground. Once a certainthreshold distance of the tires from the ground is achieved, then thesystem 100 stops the vehicle lifting device 140.

Additionally, the general vehicle database may include lifting heightinformation. The lifting height information is used by the system 100 toinstruct the vehicle lifting device 140 to move the lifting sections toa desired height level. The system 100 may retrieve the lifting heightinformation and direct the vehicle lifting device 140 to lift thevehicle to a desired height.

Lug-Nut and Wheel Removal

As described in FIG. 7, the system 100 may include module 746 forperforming operations of removing a wheel from a vehicle. FIG. 12illustrates a method 1200 for automated lug-nut and wheel removal. Themethod begins (block 1210) with the system 100 determining the lug-nutpattern for a wheel (block 1220). The system 100 determines the physicalgeometry of the wheel of a vehicle (block 1230). The system 100 thenremoves using a robotic apparatus the lug-nuts from the wheel (block1240). The system 100 then removes the wheel from the vehicle (block1250).

Before, during or after lifting of the vehicle, the system 100 maydirect the robotic apparatus into a first wheel removal position.Depending on the configuration of the robotic apparatus 150, if a mobilerobotic apparatus such as one attached to rail guide, the body of therobotic apparatus and articulating components all move to the firstwheel removal position. If the robotic apparatus is affixed to theground, then the tooling head of the robotic apparatus is moved into afirst wheel removal position. Setting the robotic apparatus, and/or thetooling head, to the first wheel removal position places the roboticapparatus in proximity to a wheel of the vehicle, thereby allowing therobotic apparatus to perform a wheel removal procedure.

The system 100 may detect if the lug nuts have locks. The system 100 maydetect a pattern on the surface of a lug nut by analyzing an image anddetermining that the lug nut may have a lock. The particular lug nutlock pattern may be associated in the general vehicle database with arequired robotic tool attachment. For removal of a locked lug nut, therobotic apparatus may have specialized keyed sockets that are used toremove the locked lug nut.

The system 100 determines a lug-nut pattern for the wheel. The lug-nutpattern may be obtained from the database as associated to a particularyear, make and model of the vehicle. The system 100 may have stored inthe database 112 associated dimensional information about the lug-nutpattern which the system 100 uses to move one or more torque wrenchescoupled to the robotic apparatus 150 for removal and replacement of lugnuts.

Additionally, the robotic apparatus 150 may determine a physicalgeometry of the wheel as to the tooling head of the robotic apparatus.The robotic apparatus for example may have lasers or other types ofsensors that the robotic apparatus 150 may use to determine distances,and/or proximity, of the robotic apparatus to a vehicle's wheel. Therobotic apparatus 150 may determine a plane and/or orientation of thevehicle's wheel in a three-dimensional space. While distance sensors maybe used, additionally an obtained 3-D point cloud from LiDAR sensors, ora stereo vision system for 3-dimensional depth perception may be used.Determining an orientation or plane of the wheel assists the roboticapparatus in determining proper alignment of a socket when being placedonto a lug nut. If the plane of the wheel is determined, then therobotic apparatus can move linearly in a perpendicular fashion towardthe wheel. The system 100 may then maintain the socket in a 90 degreeorientation to the wheel as the socket is moved towards the wheel by therobotic apparatus 150. If the socket orientation to the plane of thewheel is off by a few degrees, then the socket may not properly seatonto a lug nut.

Additionally, the system may obtain video images, or a series of images,from a digital camera depicting the vehicle in motion. The system 100may analyze one or more wheels depicted in the images, and compute aplane of the wheels. The plane of the wheel in multiple images may beanalyzed to determine whether the wheels if the alignment of the is offcanter, or off angle from a normal angle. The system 100 then may recordthe wheel as needing alignment.

Additionally, the system 100 may determine a lug nut pattern viacomputer vision processing where a digital image of the wheel isobtained. The system 100 processes obtained images using objectdetection techniques to identify lug nuts in the image of the wheel. Thesystem 100 can determine based on the number of lug nut objectsdetected, the type of lug nut pattern (i.e., 4, 5, 6 or 8-lug nutpattern). The system 100 may also calculate the centroid of the lugnuts, and the spatial dimensions for each of the lug nuts.

The system 100 may then use the determined lug-nut pattern, and/or thedetermined physical geometry of the wheel to maneuver the roboticapparatus tooling head from one location to another location to placeone or more sockets onto a respective lug nut.

The robotic apparatus can dynamically adjust between removal of lug nutsfor a 4-lug nut configuration, a 5-lug nut configuration, or a 6-lug nutconfiguration. This dynamic aspect of the system 100 is quite differentfrom an unchanging system that has a fixed-known configuration.Additionally, even within a particular lug nut configuration, forexample a 5-lug nut pattern, the spacing of the lug nuts are variableamong different vehicles.

The system 100 addresses this variability by multiple means. Forexample, based on the particular vehicle information, the GeneralVehicle Database may store the type (4, 5, 6, or 8-lug nut pattern), andthe dimensional spacing of the lug nuts. Once a first lug nut positionis located on the wheel, then the system 100 may calculate or determinethe position of the remaining lug nuts of the wheel and maneuver therobotic arm accordingly.

Socket Selection

The robotic apparatus 150 may use or be fitted with one or more socketsfor the removal of lug nuts. The sockets may be detachably affixed to atorque wrench end of the robotic apparatus 150. The system 100 maydetermine a socket size to be used to remove a lug nut from a wheel. Thedetermination of the size of a lug nut may be performed through acomputer vision process where an image of a wheel is obtained, and thesystem processes the image, and detects a size of the lug nut. Based onthe determined size of the lug nut, the system 100 would instruct therobotic apparatus 150 to pick the appropriate socket size for the lugnut.

Additionally, a user interface of the system 100 may allow for aselection of a lug nut size. For example, the system 100 would receive auser input for the size of the socket needed to remove the lug nut. Inresponse to the selection, the robotic apparatus would choose theselected socket size. For example, the user interface may displayinformation for different socket sizes. The user interface would receivean input for a desired socket size to be used to remove the lug nutsfrom the wheel.

As discussed previously, a user of the system may input their vehicleinformation for a tire change job. Based on the vehicle information,such as make, model, and year, the system 100 may have stored forretrieval in the database 112, such as the general vehicle database, aparticular socket size that is typically used for the particular vehicleassociated with the vehicle information. When removing a lug nut, thesystem 100 may search for a stored data value for a socket size to beused, and then the system 100 may direct the robotic apparatus 150 toselect or use a socket based on the data value for the socket size.

The robotic apparatus 150 may select or be fitted with different socketsizes. In one example, the robotic apparatus chooses from 6 differentsocket sizes, 3 metric sizes (17 mm, 19 mm, 21 mm) and 3 standard size(¾″, 13/16″, ⅞″). The robotic apparatus 150 may have a tray orcompartment where the group of sockets may be stored, and the selectedsocket may be attached to the torque wrench of the tooling end of therobotic apparatus 150.

Additionally, based on the vehicle information, the system 100 maychoose from the group of 3 metric sockets, or choose from the group of 3standard size sockets for removal of the vehicle's lug nuts. Forexample, if the make of the vehicle is a Ford and the model is anExplorer, the database 112 may identify the vehicle as using standardsize sockets, and accordingly select from among the 3 standard sizesockets to remove the lug nuts from the wheel.

Sometimes a socket may have been selected that is either too large, ortoo small for the lug nut. The system 100 may detect this errorcondition. For example, the robotic apparatus 150 may maneuver toposition a socket over a lug nut. The socket if too small would not fitover the lug nut (i.e., the wrong size of socket was selected). Therobotic apparatus 150 may have a feedback sensor, and may determine thatthe robotic arm cannot move in the direction of the lug nut and placethe lug nut onto the socket. The system 100 may determine that an errorcondition has occurred. The error condition may be displayed via a userinterface 100. When the error condition is determined, then the roboticapparatus may pull the robotic arm back away from the lug nut. A largersocket size may be chosen by the robotic apparatus. For example, if thesystem 100 originally selected a 17 mm socket from the metric group ofsockets, the system 100 may then select the next socket size which maybe a 19 mm socket. If the system 100 originally selected a 19 mm socketfrom the metric group of sockets, the system 100 may then select thenext socket size which may be a 21 mm socket. Likewise, if the systemoriginally selected from one of the standard sized sockets, the systemwould choose the next standard size socket.

In the example of too large of a socket being selected, the socket whenplaced over the lug nut may impinge upon the wheel. In other words,similar to the case of too small of a socket, the socket may contact thewheel and would not be able to be placed over the socket by the roboticapparatus 150. Using a feedback sensor of the robotic apparatus 150, thesystem 100 may detect this error condition. The error condition may bedisplayed via a user interface of the system 100. When the errorcondition is determined by the system 100 then the robotic apparatus maypull the robotic arm back away from the lug nut. Similar to the exampleabove of choosing another socket sizer, in this example, the systemwould then select then next smaller socket.

In another example of too large of a socket being selected, the socketmay actually fit over the lug nut. However, when the robotic apparatusbegins to torque the lug nut with the socket, the socket may not haveany resistance from the lug nut or contact the lug nut, and the socketwould spin around the lug nut. The system 100 may detect this as anerror condition, and may display the error via a user interface of thesystem 100. When the error condition is determined by the system 100,then the robotic apparatus 150 may pull the robotic arm back away fromthe lug nut. The system 100 may determine that the socket size was toolarge due to the spinning of the socket, and the robotic apparatus maychoose a smaller socket size.

The user interface of the system 100 may receive an input to resume theremoval of the lug nuts. Additionally, in certain situations, anoperator may have to manually place a particular socket onto the torquewrench of the robotic apparatus.

The system 100 also may need to slowly rotate the socket when the socketis being placed over a lug nut. For example, the system 100 may directthe robotic apparatus 150 to slowly rotate the socket in either aclockwise or counterclockwise rotational movement. The rotation of thesocket may be performed in discrete rotational distances, for example ina range of 0.1 to 10 mm (0.0003937 to 0.3937 inches). Rotating thesocket may allow the socket to be seated over a lug nut if the socket isinitially positioned in a way where the internal walls of the socket aremisaligned with the side walls of the lug nut. As the socket is beingrotated, the robotic apparatus 150 may apply a linear movement towardsthe lug nut to try to seat the socket. Once the system 100 detects thatthe socket is moving over the lug nut, then the system 100 may stop therotation of the socket.

When a socket has been positioned onto a lug nut, the socket beginsrotation in a counterclockwise manner to remove the lug nut. The roboticapparatus may include a torque sensor to receive a value for the torqueapplied to the lug nut. The torque value may be monitored by the system100 to determine if the value remains within a threshold torque range.If the torque exceeds this value, then possibly the lug nut is frozenonto the wheel hub bolt. The robotic apparatus 150 may cease rotation ofthe socket and the wheel vehicle operation if this occurs. The system100 may generate an exception message via a user interface for review byan operator. At this point, possible manual inspection of the bolt maybe warranted. Operational exceptions indicating an error, or out ofrange exception, may be presented via a user interface of the system100.

Once a lug nut is removed the lug nut is placed by the robotic apparatus150 individually into a receiving bin, or some other predeterminedstorage location. The receiving bin may have a sensor, such as apressure sensor, switch, magnetic sensor, or optical sensor. The binsensor is communicatively coupled to the system 100. The system 100records that a lug nut has been placed into a bin. The first bin maycorrespond to the first lug nut removed, the second bin may correspondto the second lug nut removed and so forth. While the lug nuts could beplaced in some other open location and the location position record, thebins provide a secure container to hold the lug nuts. A priori, the binlocations are known to the system 100 allowing the robotic apparatus toplace the lug nuts into the bins. Additionally, by having ordered bins,the system 100 may selectively choose the order to replace the lug nuts,for example from 1,2,3,4,5 (if five lug nuts), or from 5,4,3,2,1. Thelug nuts may be replaced in the same order they were removed, or in thereverse order they were removed, or in some other combination.

The bins may include some type of solvent or other solution that mayclean the lug nuts or reduce friction to assist in the reapplication ofthe lug nuts to the wheel hub bolts.

In one embodiment, the robotic apparatus 150 includes a mechanism forinsertion into the lug nut holes of the wheel. For example, the roboticapparatus 150 inserts one or more longitudinal fingers into the holes ofthe wheel where the lug nuts were removed. The robotic apparatus 150 mayplace the longitudinal fingers into the lug nut holes and then eithermove the fingers outwardly toward the tire and/or inwardly toward thecenter of the wheel, or in some other direction, to seat or mate thelongitudinal fingers against the interior surface of the lug nut holesof the wheel. The longitudinal fingers may be coated, or made from arubber, plastic or other material that avoids damage to the wheel.Additionally, the longitudinal fingers may have integrated pressuresensors that generate pressure data values that are provided to thesystem 100. The system 100 may monitor the pressure data values and whena threshold pressure data value is achieved, the system 100 would ceasethe outwardly, or inwardly movement of the longitudinal fingers. Oncethe longitudinal fingers are seated, then the system 100 directs therobotic apparatus 150 to pull the wheel away from the wheel hub of thevehicle.

In another embodiment to remove the wheel from the vehicle, the roboticapparatus 150 includes a tire gripper to hold the tire while the lugnuts are removed. The tire grippers are maneuvered by the roboticapparatus as controlled by the system 100 into a position where grippingarms may contact a tire, for example the tread of the tire. The roboticapparatus 150 may use sensors, such as a computer vision system, todetect the perimeter of the tire, and guide the gripping arms onto thetire. The system 100 may determine a width value of the tire, and placethe gripping arms at locations around the tread portion of the tire togrip the tire at the maximum width of the tire. For example, determininga width value of the tire may be based on a retrieved tire width valueassociated with the vehicle as stored in a database 112 of the system100, as determined by sensors of the robotic apparatus 150, asdetermined by computer vision process performed on obtained images ofthe wheel and tire by the system, or by other means. When positionedaround the tire, the system 100 directs the gripping arms of the roboticapparatus 150 to open between 1.27 mm to 254 mm (0.5 to 10 inches)greater than the determined width value of the tire. Once positionedinto place around the tire, the system 100 actuates the gripping arms toclose together against the tread of the tire. The gripping arms apply amechanical gripping force to the tire. The gripping arms may havefeedback sensors to determine the force being applied to the tires. Thesystem 100 positions the gripping arms to a determined, or desiredgripping force value.

In different embodiments, the gripping of a tire may be done before lugnuts are removed, during lug nut removal, or after lug nut removal.Gripping the tire before lug nut removal helps secure the tire in placeto avoid rotation of the tire while the lug nuts are removed.

Once the lug nuts are removed, then the robotic apparatus 150 pulls thewheel from the vehicle wheel hub. The robotic apparatus 150 may includebolt guides that are positioned onto one or more bolts by the roboticapparatus 150. Since the system 100 has already identified the physicallocation of the lug nuts, after the lug nuts are removed, the roboticapparatus 150 may place a guide or sleeve over a bolt. Doing so, assistsin the avoidance of damage to the threads of a bolt. For example, theweight of the wheel and tire may rest on the bolt. When the wheel isremoved, the weight against the bolt may cause damage to the bolt as thewheel is pulled from the vehicle. The guide or sleeve may help carry theweight of the wheel and avoid direct contact to a bolt.

Once the wheel is removed, the robotic apparatus 150 may perform aninspection and obtain images of the brake pads and/or the wheel hub androtor. The system 100 may then perform processing on the images todetect anomalies of the brake pads, the wheel hub and rotor. Forexample, the system 100 may identify a brake pad and determine that thebrake pad width is of a certain dimension or thickness. The system 100may determine that a brake pad needs replacement by determining thebrake pad thickness from an image is within threshold thickness rage.The system 100 may then identify the brake pad as requiring service. Theimages may be stored by the system 100 in the database 112, andassociated with the vehicle undergoing the tire change job. The system100 may report via a user interface that a brake pad should be replaced.Additionally, the system may generate a report identifying the brakepad, and the particular thickness value determined by the system 100.

After removing a first wheel, the robotic apparatus then proceeds to asecond position to remove a second wheel. The robotic apparatus may bedirected to move to a specified distance based on retrieved dataspecifying a distance value, the data being retrieved from the database112. For example, the general vehicle database may store a value for theaxle distance between a front and rear axle of a vehicle. The system 100retrieves this information and maneuvers the robotic apparatus 150 alinear distance according to the axle distance between the front andrear axle. This allows the robotic apparatus 150 to move to the locationof the next wheel on the same side of the vehicle.

Tire Removal and Mounting

The system 100 instructs the robotic apparatus to hand off the removedwheel to a location for tire removal. The wheel is placed onto a mountof a tire removal machine. The system 100 may provide inflationparameters to the tire removing machine, such as a desired air pressure,type of gas such as nitrogen or air. Once the tire is secured onto thetire removal machine, the tire removal machine is initiated. The tire isremoved, and a new tire is placed onto the wheel. The tire is theninflated to the desired air pressure that the tire removal machinereceived from the system 100.

As described in FIG. 7, the system 100 may include module 748 forperforming operations of tire removal and tire mounting. FIG. 13illustrates a method 1300 for tire removal and replacement. The method1300 begins (block 1310) with the system 100 sending parameter to a tireremoval machine (block 1320). The system 100 may then send instructionsto the tire removal machine to initiate removal of a tire from a wheel(block 1330). A new tire that was pulled from inventory for the specificvehicle being serviced is set onto the wheel (block 1340). Gas isapplied to the tire according to the parameters (block 1350).

The tire removal machine may have an integral tire feeder configured toreceive multiple tires. As described previously, a robotic tireretrieval apparatus may retrieve specific tires associated with aparticular tire change job. The system 100 may direct the robotic tireretrieval apparatus to retrieve required tires and move them from aninventory staging location to a tire changing location. A tire changingmachine may be fitted with a feeder adapted to receive the tires fromthe robotic tire retrieval apparatus.

The robotic apparatus 150 and/or the tire changing machine 160 mayinclude a tire deflation/inflation apparatus or subsystem. For example,the system 100 may detect the position of a tire valve stem on thewheel. Sensors may detect the location of the valve stem, for examplethrough computer vision, or other processes. The deflation/inflationapparatus is positioned over the tire valve stem of the wheel. Thedeflation/inflation apparatus may determine whether the valve cap hasbeen removed. If the valve cap has not been removed, then thedeflation/inflation apparatus may unscrew the valve cap and hold the capuntil a new tire has been mounted. If the system 100 determines thevalve cap has been removed, the deflation/inflation apparatus places adeflation mechanism onto the valve stem. The system 100 may actuate thedeflation/inflation mechanism which inserts a pin, rod or ball valve andpresses against the valve stem core to release gas or air from the tire.The deflation/inflation apparatus may have a pressure monitor, and thesystem 100 may monitor the air pressure and cease deflation of the tirewhen the pressure is within a pressure range of 0 kPa to 103.42 kPa (0to 15 psi). Once deflation has ceased, the system 100 directs thedeflation/inflation apparatus to move away from the tire so that the oldtire may be removed by the tire removal machine 160, and a new tiremounted.

For inflation of the newly mounted tire, the deflation/inflationapparatus may be positioned by the system 100 onto the valve stem. Thesystem 100 may actuate a deflation/inflation mechanism to press againstthe valve stem core. The system 100 may cause the deflation/inflationapparatus then to discharge a gas into the valve stem. The system 100may monitor the pressure of the gas in the tire, and cease inflation ofthe tire when the monitored pressure has reached a desired psi value.The type of gas may be automatically selected from a parameter valuefrom the database 112 as associated to the tire change job, vehicle typeand/or tire type. The inflation pressure may be based on a parametervalue from the database 112 as associated to the tire change job,vehicle type and/or tire type. The system 100 may store the value of thepsi as applied to the new tire, and store associate the psi value withthe tire change job and/or a particular customer vehicle in database112. Once the tire is inflated to a desired psi, then thedeflation/inflation apparatus may screw a cap onto the tire stem valve.

Tire and Wheel Balancing

As described in FIG. 7, the system 100 may include module 750 forperforming operations of tire and wheel balancing. FIG. 14 illustrates amethod 1400 for tire and wheel balancing. The method 1400 begins (block1410) with the system 100 directing an apparatus to remove weights froma wheel (block 1420). A tire balancing machine then spins the wheel andtire and determines a location on the wheel for placement of weights(block 1430). Based on the determined location for placement of theweight, a dispensing apparatus applies weights to the wheel (block1440). An example dispensing apparatus may dispense segmentedrectangular weights. The dispensing apparatus is operatively coupled tothe tire balancing machine, and/or the system 100. The dispensingapparatus receives an input identifying the amount of weight, and/or thelocation of where to apply the weight that is needed to balance thewheel and the tire. The dispensing apparatus dispenses the needed amountof weight. The dispensed weights may have an adhesive coating on oneside of the weight. The weight may be applied to the wheel by thedispensing apparatus and adhesively affixed to the wheel.

Replace Wheel and Lug Nuts

As described in FIG. 7, the system 100 may include module 752 forperforming operations of mounting a wheel. FIG. 15 illustrates a method1500 for mounting a wheel onto a wheel hub. The system 100 begins (block1510) determines a bolt pattern orientation of a wheel hub (block 1520).The system rotates a wheel held by a gripping device of the roboticapparatus (block 1530). The system 100 directs the robotic apparatus 150to place the wheel against the wheel hub (block 1540). The system 100directs the robotic apparatus to replace lug nuts onto the wheel (block1550) and then the method ends (block 1560).

After a new tire has been placed onto a wheel and the wheel balanced,the system 100 may receive an indication from the wheel balancingmachine, or from a user interface of the system 100, that the wheel isready for placement back onto the vehicle.

The system 100 may keep track of the wheel position from where the wheelwas removed. For example, the wheel may have been removed from the rightfront, the right rear, the left front or the left rear. Additionally,the user interface may receive an input as to what side of the vehiclethe wheel should be mounted, for example left front, left rear, rightfront or right rear.

In response to receipt of the wheel readiness indication from the wheelbalancing machine, and/or the received location of where the wheelshould be mounted via the user interface, the system 100 initiates therobotic apparatus 150 to pick up the wheel with the tire gripper, andmount the wheel to the designated location.

When the robotic apparatus 150 picks up the wheel for remounting, therobotic apparatus may detect the orientation of the bolt holes of thewheel. The robotic apparatus may detect the bolt holes through sensors,and/or attached digital camera where images of the wheel are taken bythe system 100, and the geometry of the wheel is determined. The system100 may register the circumferential location of where the wheel ispicked up by the tire gripper. In other words, the system would know thegeometry of the wheel, and where the robotic arm has gripped the wheel.

In addition to detecting the wheel geometry, the system 100 may identifythe rotational direction of the tire mounted on the wheel. Certain tireshave a rotational direction that requires the wheel to be mounted on aleft or right side of the vehicle, such that the tire rotates in thedirection of the arrow. The system 100 may detect in an image, arotational indicator, such as an arrow shown on the sidewall of thetire, or some fiducial marker, such as a sticker of some shape, color orprinted pattern. Based on the rotational indicator, the system 100 wouldonly mount the wheel on to the correct side of the vehicle such that thewheel, once mounted rotates in the indicated direction of the arrow.

Additionally, a user interface of the system 100 may receive an inputdesignating the rotation direction for a wheel that is ready to bemounted to the vehicle. The system 100 would only mount the wheel on aside of the vehicle where the wheel would rotate in the designatedrotational direction once mounted.

The robotic apparatus 150 may detect the orientation of the bolts of thewheel hub, and axially rotate the wheel to align the bolt holes of thewheel with the bolts of the wheel hub. The robotic apparatus may detectthe orientation of the bolts through sensors, and/or attached digitalcamera where images of the wheel hub are taken by the system 100, andthe geometry of the wheel hub is determined.

As the system 100, knows the wheel hub geometry and the wheel geometry,the robotic apparatus 150 may axially rotate, shift and/or position thewheel to align the wheel holes of the wheel to the bolts of the wheelhub. The system 100 may direct the robotic apparatus 150 to make slightcorrection movements to move the wheel in any direction while mountingthe wheel against the wheel hub.

The robotic apparatus 150 seats the wheel against the wheel hub. Oncethe wheel is seated against the wheel hub, the robotic apparatus beginsplacing the lug nuts back onto the wheel.

The robotic arm picks up a lug nut from its respective bin, or otherholding location of the lug nut. As indicated previously, the lug nutmay be associated with a particular lug nut position. In one example,the lug nut may then may be placed onto the corresponding bolt fromwhich it was removed. In another example, the lug nut may be placed ontoany one of the lug nut bolts.

In one embodiment, the lug nuts are placed onto the wheel hub in asequentially alternating pattern. Each of the bolts are torqued to afirst torque value, for example 33.90 Nm (25 ft-lbs) to set the wheel inplace against the wheel hub, or rotor. Then the robotic apparatus 150arm moves to each lug nut, and then sequentially tightens each lug nutto a desired final torque value, for example 90 ft-lbs.

The robotic apparatus 150 arm may be fitted with a multi-socket headtorque wrench, such as 2, 3, 4, 5, 6 or 8 socket head. In this case, thewheel lug nuts may be placed onto the bolts in a parallel, orsimultaneous fashion. With this configuration, the lug nuts may all betorqued together to the final torque value. Multiple lug nuts may beheld by the robotic apparatus 150, and then concurrently replaced ontolug nut bolts. For example, the robotic apparatus 150 may be configuredto concurrently torque multiple lug nuts. The robotic apparatus 150could replace all of the lug nuts at the same time. If the bolt patternis a 4, 6 or 8 bolt pattern, a 2-socket head torque wrench could replacetwo lug nuts at opposing lug nut bolts, and the robotic apparatus 150could rotate the 2-socket head torque wrench to replace the next set oflug nuts at opposing lug nut bolts. For a 5 bolt pattern, the 2-sockethead torque wrench may apply the lug nuts using just one of the torquewrenches.

The robotic apparatus 150 begins rotation of a lug nut with a socket ina clockwise manner to replace the lug nut. The robotic apparatus 150 mayinclude a torque sensor to receive a torque value for the torque appliedto the lug nut. The system 100 monitors the torque value to determine ifthe torque value remains within a threshold torque value range. If thetorque value exceeds the torque value range, then possibly the lug nutis being cross-threaded onto the wheel hub bolt. The robotic apparatus150 may cease the operation if the threshold torque value range isexceeded. The system 100 may then generate an exception message forreview by an operator via a user interface of the system 100. Themessage may indicate that a manual inspection of the bolt be performed.

After a wheel has been mounted, the robotic apparatus 150 may obtain animage of the wheel. The system 100 may store the image in the database112, and associate the image with the tire change job.

Once all of the wheels are mounted back onto the vehicle, the system 100will determine a job completion status. The job completion status may beinitiated by the system 100 when robotic apparatus has mounted eachwheel to the vehicle, and replaced the lug nuts. Additionally, a userinterface input may allow a user to set a status that the tire changejob has been completed. In response to the job completion status, thesystem 100 instructs the vehicle lifting device 140 to lower the vehicleto the ground. As a safety precaution, while lowering the vehicle to theground, the vehicle lifting device 140 may scan using distance sensors,the area below the vehicle, and/or around the vehicle lifting device todetermine if any obstructions are detected. If an obstruction isdetected, then the system 100 causes the vehicle lifting device to ceaselowering the vehicle, and an error condition identifying the problem maybe presented to a user interface of the system 100. For example, thevehicle lifting device 140 may use proximity sensors, LiDAR, computervision to detect the proximity of objects that may be near the vehiclelifting device.

Vehicle Lifting Device

Different embodiments of vehicle lifting devices are now disclosed.Referring to FIG. 16, one embodiment of an example vehicle liftingdevice 1600 is disclosed. The vehicle lifting device 1600 (referred toin FIG. 1 as 140) is comprised of one main center beam 1602 withindependent lifting arm (either two or four) with lifting jacks 1610,1612, 1614, 1616 (for example, pneumatic, hydraulic, or electricactuated jacks). At the front of the lift is a sensing system(2-dimensional or 3-dimensional vision, LiDAR, vision sensors) that maybe used to detect or confirm wheelbase dimension or determine vehicleorientation and adjust the main center beam to the center of the vehicle(either by pneumatic, hydraulic, rack & pinion or linear screws). Oncethe vehicle lifting device 1600 is aligned, a message is sent to a userinterface of the system 100 where the message indicates to move thevehicle into position over the vehicle lifting device 1600, or thevehicle lifting device 1600 may move under the vehicle. Another sensingsystem may be positioned to observe at the undercarriage of the vehicleto locate or confirm lifting points. Then the lifting arm may extend andmove to the appreciate position. The lifting jacks 1610, 1612, 1614,1616 may engage with the vehicle and a force feedback system coupled tothe vehicle lifting device 1600 may detect if a jack is engaged. If thefeedback system does not detect engagement of the lifting jack 1610,1612, 1614, 1616, that vehicle lifting device 1600 may adjust a liftingjack 1610, 1612, 1614, 1616 height position, and then may lower thelifting jack 1610, 1612, 1614, 1616 and try a new position.

The automated vehicle lifting device 1600 may automatically lift avehicle via two methods. In a first method, a vehicle is driven andpositioned in front of the vehicle lifting device 1600, then the vehiclelifting device 1600 extends under the vehicle, positions the liftingjacks 1610, 1612, 1614, 1616, lifts the vehicle then retracts on toitself. Once work has been completed on the vehicle, the system 100extends the vehicle lifting device 1600, and lowers the vehicle, andthen the vehicle lifting device 1600 retracts.

In a second method, a vehicle is driven over the vehicle lifting device1600 to a designated point, then the system 100 detects the vehicle liftpoints (e.g., the vehicle lifting locations), and then then lifts thevehicle. Once work has been completed, the vehicle is lowered by thesystem 100 and the vehicle is driven from the vehicle lifting device1600.

The vehicle lifting device 1600 contains an adjustment mechanism thatincludes a front face beam 1620, a first stationary arm 1622, and asecond stationary arm 1624 to extend and retract along the outside ofthe vehicle lifting device 1600. A center-beam 1602 has four moveablelifting jacks 1610, 1612, 1614, 1616 mounted on two actuating beams withtwo vision systems. A front face beam 1620 is moveably coupled tostationary arms 1622, 1624. The center-beam 1602 is fixed to the frontface beam 1620. The adjustment mechanism 1620, 1622, 1624 may beextended or retracted in length by the system 100 to extend or retractto various positions depending on the vehicle's length. The vehiclelength is communicated to the vehicle lifting device 1600 from thesystem 100.

A center-beam 1602 is connected to two cross-beams 1604, 1606 that areset perpendicular to the center-beam 1602. The center-beam 1602 and twocross-beams 1604, 1604 may have various numbers of rollers attached abottom surface to help the center-beam 1602 and cross-beams 1604, 1604move over the ground. The actuating mechanisms to position the centerbeam, and/or the lifting jacks 1610, 1612, 1614, 1616 may be of anyactuating type, such as rack & pinion system, linear lead screw,pneumatic linear actuator.

The system 100 may maneuver the two cross-beam up and down thecross-beam depending on the vehicles lift points. At the end of eachcross-beam is a lifting jack (either hydraulic, pneumatic or electric)that is extended or retracted out depending on the vehicle. Thatactuating mechanism is either a rack & pinion system, linear lead screw,pneumatic linear actuator. The lifting jack 1610, 1612, 1614, 1616 isequipped with a rubber pad on the top to minimize damage to the vehicleframe.

One vision system mounted at the front face of the center beam 1602 isto identify/detect the wheelbase dimension of the vehicle and the othermounted in the center of the center beam 1602 to identify/detect thehard or soft lift point on a vehicle frame. The lift points of thevehicle and wheelbase dimension can be entered into the system 100 viaprior information (scanning the VIN, scanning the license plate, fromthe customer's input during scheduling or can be manually entered andreceived by the system 100 via a user interface).

Each jack 1610, 1612, 1614, 1616 is equipped with sensors (load,pressure, vision or laser) to detect if the vehicle shifts or if anyadded pressure/weight is placed on the vehicle while being lifted toprevent the vehicle from falling off. If the system 100 detects one ofthe jacks 1610, 1612, 1614, 1616 being disturbed, the system will causethe jacks to compensate for the jack being disturbed. Since each jack1610, 1612, 1614, 1616 can sense the weight of the vehicle it cancompensate the vehicle is unbalanced to ensure that the vehicle islifted parallel to the ground.

A cleaning apparatus may be added to lift to ensure lifting points areclearly visible. A call back system may be implemented to confirmlifting point when sensing system can't determine lifting points.Different lifting pads may be added to the jacks depending on thevehicle type which will be determined by customer input data.

The vehicle lifting device 1600 may obtain imagery or other sensor datathat may be stored by the system 100 in a database 112. The system 100for example may determine alignment of the suspension of the vehicle.The determined alignment of the suspension of the vehicle may bereported via a user interface or a generated report identifying thealignment values for the vehicle.

Referring to FIG. 17, another embodiment of an example vehicle liftingdevice 1700 (referred to in FIG. 1 as 140) is disclosed. An automatedvehicle lifting device 1700 may be comprised of lifting jacks 1710,1712, 1714, 1716 (and may be actuated for example by pneumatic,hydraulic, electric, rack & pinion or linear screws) that areperpendicular to the vehicle. These lifting jacks 1710, 1712, 1714, 1716may be placed in the ground or above ground. A vehicle may be parked ina designated spot above the lifting jacks 1710, 1712, 1714, 1716. Asensing system may be positioned to look at the bottom of the vehicle tolocate or confirm lifting points of the vehicle. These lifting jacks1710, 1712, 1714, 1716 extend or retract to accommodate the width of thevehicle and adjust their position to the lifting points of the vehicleor predetermined position for that specific vehicle.

As shown in the example, the vehicle lifting device 1700 is mountedin-ground and has four independent lifting jacks 1710, 1712, 1714, 1716that may maneuver in three degrees of freedom (x,y,z). A vehicle isdriven over the vehicle lifting device 1700 to a designated point or atany position over the lifting jacks 1710, 1712, 1714, 1716, and then thesystem 100 detects the lift points of the vehicle via a camera 1720mounted on floor in a center of the vehicle lifting device 1700. Thereis another vision system 1722 mounted in front of the vehicle liftingdevice 1700 that provides direction by the system 100 for positioningthe vehicle (for example, either by projecting laser beam on the vehiclefor a live feed of a 2D/3D model moving into the vehicle lifting device1700), or then lifts the vehicle. Once work has been completed, thevehicle is lowered and the vehicle is driven away from the vehiclelifting device 1700. The lifting jacks 1710, 1712, 1714, 1716 (eitherhydraulic, pneumatic or electric) move within their designated pads (xor y) depending on the vehicle. That actuating mechanism is either arack & pinion system, linear lead screw, pneumatic linear actuator. Thelifting jack 1710, 1712, 1714, 1716 may be equipped with a rubber pad onthe top of the lifting jack 1710, 1712, 1714, 1716 to minimize damage tothe vehicle frame.

Each lifting jack 1710, 1712, 1714, 1716 may be equipped with sensors(load, pressure, vision or laser) to detect if the vehicle shifts or ifany added pressure/weight is placed on the vehicle while being lifted toprevent the vehicle from falling off. If the system 100 detects one ofthe lifting jacks 1710, 1712, 1714, 1716 being disturbed, the systemwill maneuver the other lifting jacks 1710, 1712, 1714, 1716 tocompensate. Since each lifting jack 1710, 1712, 1714, 1716 can sense theweight of the vehicle the system 100 can compensate if a vehicle isunbalanced to ensure it is lifted parallel to the ground.

All vehicle information may either be sent to the vehicle lifting device1700 prior (such as scanning the VIN, scanning the license plate, fromthe customers input during scheduling) to the vehicle maneuvering overthe vehicle lifting device 1700 or manually entered via a user interfaceof the system 100 prior to a vehicle being driving over the vehiclelifting device 1700.

The lifting bars may have a soft pliable material, integrally connected,and/or placed on top of them to prevent damage to the underside of thevehicle.

Referring to FIG. 18, another embodiment of an example vehicle liftingdevice 1800 is disclosed. In another embodiment, an automated vehiclelifting device 1800 (referred to in FIG. 1 as 140) may be comprised oftwo independent jacks that adjusts to the lift points via a sensingsystem. These jacks may be placed in the ground or above ground.

This automated vehicle lifting device 1800 is designed to mountedin-ground or above ground and has two lifting jacks 1810, 1820 that areperpendicular to the vehicle. The lifting jacks 1810, 1820 span thewidth of various vehicles. Each lifting jack 1810, 1820 may expand orcontract along the length of the vehicle depending on the vehiclelifting points.

When a vehicle is driven over the vehicle lifting device 1800 to adesignated point or at any position over the lifting pads then thesystem 100 detects the lift points of the vehicle via a camera mount inthe floor in the center of the system. There is another vision systemmounted in front of the system that provides direction for positioningthe vehicle (either by projecting lasers beam on the vehicle for, a livefeed of a 2D/3D model moving over the vehicle lifting device 1800), orthen lifts the vehicle. Once work has been completed, the vehicle islowered and then the vehicle is moved away from the vehicle liftingdevice 1800. The lifting jacks 1810, 1820 (either hydraulic, pneumaticor electric) move within their designated pads (x or y) depending on thevehicle. That actuating mechanism for the lifting jacks 1810, 1820 maybe of various types, such as rack & pinion system, linear lead screw, ora pneumatic linear actuator. The lifting jacks 1810, 1820 are equippedwith a rubber pad on a top surface of that comes into contact with avehicle to minimize damage to the vehicle frame/components.

All vehicle information may either be sent to the vehicle lifting device1800 prior (such as scanning the VIN, scanning the license plate, fromthe customer's input during scheduling) to the vehicle maneuvering overthe vehicle lifting device 1800 or manually entered via a user interfaceof the system 100 prior to a vehicle being driving over the vehiclelifting device 1800. The vehicle lifting device 1800 is in electroniccommunication with the system 100. The vehicle lifting device mayreceive instructions, commands and data from the system 100. Likewise,the vehicle lifting device may send data, and other information to thesystem 100. The vehicle lifting device may include different types ofsensors for the inspection of the undercarriage of a vehicle, and/or fordetermination of vehicle lifting points. These sensors may includeproximity sensors, video or still image cameras, LiDAR, thermal sensors,lighting, pressure sensors, and any combination thereof. The vehiclelifting device may obtain sensor data describing the undercarriage of avehicle. For example, the sensors may obtain image information of theundercarriage of the vehicle. Using object identification techniques,the system 100 may then determine lifting point of the vehicle. Arms ofthe vehicle lifting device may then be positioned to the desired liftingpoints. The sensor information obtained by the vehicle lifting devicemay be stored by the system 100 and associated with the particularvehicle in a database.

Robotic Apparatus

Referring to FIG. 19, an exemplary robotic apparatus 1900 for wheelremoval and replacement is disclosed. The robotic apparatus is generallyreferred to in FIG. 1 as 150. The robotic apparatus 1900 is inelectronic communication with the system 100. The robotic apparatus 1900may receive instructions, commands and data from the system 100.Likewise, the robotic apparatus may send data, and other information tothe system 100.

In some embodiments, the robotic apparatus has control circuitry,processors, and data storage. While the disclosure discusses operablecommunication with the system 100, the robotic apparatus may perform themethods described herein without interaction with the system 100. Forexample, the robotic apparatus may have one or more processing unitsthat may perform wheel remove and replacement without interaction withthe system. The robotic apparatus may be programmed and configured toperform operations in a stand-alone manner. A complete or partial copyof data from the database 112 may be locally stored in the roboticapparatus 150 data storage.

The robotic apparatus may include different types of sensors for theinspection of a vehicle's wheel, these may include proximity sensors,video or still image cameras, LiDAR, thermal sensors, lighting, pressuresensors, and any combination thereof. These sensors may be arranged invarious configurations. The robotic apparatus may obtain sensor datadescribing the wheel of a vehicle. For example, the sensors may obtainimage information for a wheel, and the system 100 may analyze the imageto determine orientation of the lug nuts, to determine physical geometryof the wheel, and to determine other aspects of the wheel. The sensorinformation obtained by the robotic apparatus 150 may be stored by thesystem 100 and may be associated with the particular vehicle and/or tirechange job.

In one example, the robotic apparatus 1900 is a 6-axis robot, orarticulated robot, that allows articulated and interpolated movement toany point within a working envelope. At axis 1, the robot rotates thebase 1910 of the robot. At axis 2, the robot extends forward andbackward the robot's lower arm. At axis 3, the robot raises and lowersthe robot's upper arm. At axis 4, the robot's upper arm can wrist roll.At axis 5, the robot's lowers wrist of the robot's arm. At axis 6, therobot rotates wrist of the arm. The arm may have a tooling end 1940 withsensors, a torque wrench, and/or other devices attached.

The robotic apparatus 150 may include proximity sensors to detectobjects within a working envelope, or within a threshold distance, ofthe robotic apparatus 150. The working envelope is a physical volume ofspace of movement and/or operation of the robotic apparatus 150. Forexample, a sensor may detect movement of a person that walks near orinto the working envelope of the robotic apparatus 150. The system 100may determine that the detected object is with a certain distance of therobotic apparatus 150. If the detected object is determined to be withina threshold distance of the robotic apparatus or the working envelope,then the system 100 may direct the robotic apparatus to cease movementand/or other operations. The system 100 may generate an error condition,and display the error condition to a user interface of the system 100.In one example, the robotic apparatus 150 may automatically resumeoperation once the system 100 determines that the detected object is nolonger within the working envelope, or the within the threshold distanceof the robotic apparatus 150. In another example, to resume operations,the user interface receives an input to resume operations. In responseto the received input, the robotic apparatus 150 resumes operation.

Additionally, proximity sensors may be placed in a working environment,such as a vehicle bay, and the proximity sensors are communicativelycoupled to the system 100. Similar to the discussion above, the system100 may receive sensor data from the proximity sensors and detect anobject within a working space, the system 100 may in response todetecting the object, cause one or more robotic apparatus 150 to ceaseoperations when the object moves into the working environment.

Robotic Apparatus Placement.

The number of robotic apparatus 150 may be positioned in differentlocations for operation and access to vehicle wheels. The followingillustrates exemplary placement of a robotic apparatus and is not meantto be limiting. For example, one robotic apparatus may be positioned attwo locations for access to a left and right side of a vehicle. Therobotic apparatus may include a multipurpose tool for tire and lug nutremoval. The robotic apparatus 150 may be affixed to a rail 1960 therebyallowing linear movement of the robotic apparatus along the rail.

In another example, two robotic apparatus 150 may be attached to a guideof rail 1960. In this configuration, one of the robotic apparatus istooled for lug nut removal, and the other for wheel removal. The roboticapparatus may move in a linear fashion to access the front and rearwheel on a particular side of the vehicle.

In another example, four robotic apparatus 150 may be positioned withtwo robotic apparatus on each side of a vehicle. One robotic apparatusmay be configured for lug nut removal and another for wheel removal.

A robotic apparatus may be located in a position where the roboticapparatus 150 may be able to perform operations on two vehicles. Theability of a robotic apparatus 150 to interleave work between twovehicles is discussed further below in the section on tire change jobcoordination. The system 100 may execute tire change job operations ontwo vehicles. For example, the system may instruct a particular roboticapparatus 150 to perform a wheel removal operation for a first vehicle.The robotic apparatus after taking off the wheel, may the hand the wheeloff for further procession. After handing off the wheel, the system maydirect the robotic apparatus to rotate toward a second vehicle. Thesystem 100 may instruct the robotic apparatus 150 to perform a wheelreplacement operation for the second vehicle. The robotic apparatus 150may pick up a wheel that was previously taken off of the second vehicle.The robotic apparatus then may perform a tire replacement of the wheelonto the second vehicle. In other words, a particular robotic apparatusmay perform operations on one vehicle in one bay, and then turn orrotate the robotic apparatus 150 to perform operations on a secondvehicle in a second bay.

Robotic Tooling Head.

The robotic apparatus 1900 may include a multipurpose tool head 1940that is equipped with a gripping mechanism, torque wrench and/or sensingsystem to detect or confirm lug nut position and lug nut type. The toolhead 1940 is configured to remove the lug nuts thereby allowing removalof a wheel. The tool head 1940 may also replace lug nuts after the wheelis replaced onto a wheel hub. The tooling end of the robotic apparatus150 may be configured to remove lug nuts for a 4-lug nut, 5-lug nut,6-lug nut or 8-lug nut configuration. The tooling end may includemultiple attachment ends for different socket configurations. In oneembodiment, the tooling end includes a singular socket that is moved toeach determined lug nut position. In another embodiment, the tooling enduses multiple sockets to concurrently remove or replace two or more lugnuts simultaneously.

In one example, the robotic apparatus 1900 may include two independenttool heads with a sensing system that will either grip the wheel forremoval and install, or removal and install lug nuts.

A cleaning system may be added to the robotic apparatus 150 or as astand-alone system to clean the wheel thereby providing a surface of thewheel and lug nuts for better visibility by a sensor of the roboticapparatus, such as a digital camera. The cleaning system may becontrolled via the robotic apparatus via the system 100.

Tire Griper

The robotic apparatus 150 may include one or more tire grippers thatprovide a mechanism to grab, hold, move, rotate, mount, and unmount atire and wheel from a vehicle wheel hub. Some examples, include a tiregripper with a single torque wrench that maneuvers to various lug nutpositions after gripping a tire. Another example, is a tire gripper witha single torque wrench wherein the robotic apparatus moves the torquewrench to different locations to remove lug nuts prior to gripping thetire. Another example is a tire gripper with two torque wrenches thatadjust to lug nut positions after gripping the tire. Another example isa tire gripper with four torque wrenches arranged in a diamond patternthat can adjust spacing depending on a lug nut pattern width.

The robotic apparatus 150 may selectively choose a tool head dependingon the vehicle. For example, the robotic apparatus may be configured toselectively change from a four, five or six torque wrench patterndepending on the determined lug nut pattern of the vehicle.

FIG. 20 illustrates a schematic illustration of an example tire gripper2000. In this example, the tire gripper 2000 includes either two, threeor four fingers 2010, 2020 that grip a tire from the sides (tread of thetire). The operation of the tire gripper 2000 may be pneumatically,hydraulically, magnetically, electrically (or a combination thereof)controlled via the robotic apparatus 150.

The tire gripper 2000 may grip the outside of the diameter of the tirevia two or multiple fingers 2010, 2020 which are moveably coupled to abeam 2002. The beam may be connected to the robotic apparatus 150. Thefingers 2010, 2020 move forward and away from one another as indicatedby the arrow 2004. The diameter of the tire to be gripped by the tiregripper 2000 is either identified by a vision system mounted on the tiregripper 2000 and a library of wheel and/or tire sizes or determined viathe same vision system. Depending on the diameter of the tire, therobotic apparatus 150 will maneuver the fingers 2010, 2020 of tiregripper 2000 to an appropriate position radially around the tire and ata particular distance from the surface of the tire. Then the system 100will cause the fingers 2010, 2020 to move together in order to grip thetire. At the end of each finger 2010, 20220 is a curved pad 2012, 2022that is either interchangeable depending on the wheel size or fixed onesize fits all. The interchangeable pads 2012, 2022 are either manuallychanged prior to the vehicle being serviced or automatically via a toolchange mechanism by the robotic apparatus. The fingers 2010, 2020 areactuated via pneumatic or electric linear actuator or lead screws oncethe robot positions the tire gripper 200. Each finger 2010, 2020 isequipped with sensors (pressure, proximity, photoelectric, distance orfiber-optics) to detect that the tire gripper 2000 has made contact withthe tire, and that the tire has been gripped and remains gripped whilethe robotic apparatus 150 is pulling the wheel off of the vehicle.

FIG. 21 illustrates a schematic illustration of an example tire gripper.In this example, the tire gripper 2100 includes either 2, 3 or 4 fingers2112, 2122 that are equipped with adjustable grippers 2110, 2120 thatgrip width of the tire. These fingers can be equipped with rollers torotate the tire for placement adjustment. The operation of the tiregripper may be pneumatically, hydraulically, magnetically, electrically(or a combination thereof) controlled via the robotic apparatus.

This tire gripper 2100 may grip the width of the tire via two ormultiple fingers. The width is either identified by a vision systemmounted on the tire gripper 2100 and a library of wheel sizes ordetermined via the same vision system. At the end of each finger 2112,2122 is a gripping mechanism 2110, 2120 that expands or contracts togrip the tire. This mechanism is equipped with sensors (pressure,proximity, photoelectric, distance or fiber-optics) to detect that thetire gripper 2100 has made contact, gripped and remains gripped whilethe robotic apparatus moves the wheel. The tire gripper 2100 is actuatedvia pneumatic or electric linear actuator or lead screws. Each finger ismounted to a center plate 2130 that moves the fingers 2112, 2122radially to accommodate various diameters of tires. The system 100 viathe vision system may determine the tire's outside diameter and positionrelative to the car for the robotic apparatus 150 to position the tiregripper 2100.

FIG. 22 illustrates a schematic illustration of an example vacuum gripplate. The vacuum grip plate 2200 grips a portion of the tire wall, orwheel rim. The operation of the tire plate may be actuated via therobotic apparatus.

The vacuum grip plate 2200 may grip the face of the tire via vacuum viaports on the vacuum grip plate 2200 as applied to the surface on therubber tire. The grip plate 2200 defines various rings of multipleorifices or ports 2202 a, 2202 b, 2202 c, 2202 c, 2202 d, etc. that arearranged in various diameters around grip plate. Each orifice 2202 a,2202 b, 2202 c, 2202 c, 2202 d, etc. is equipped with a sensor and valveto allow vacuum to the orifices that are in contact with the rubber. Thesame sensors will detect if the vacuum is lost while the gripper is inmotion. A vision system mounted on the gripper identifies the outsidediameter of the tire in relation to the rim to center the gripper overthe center of the tire. The robotic apparatus 150 will place the gripplate against the side wall of the tire, and then the vacuum generatoris turned by the system causing a suction or vacuum force to grip thetire.

FIG. 23 illustrates a schematic illustration of an example mechanicaltire basket 2300. The mechanical tire basket 2300 includes circularbasket that cups the bottom portion of the tire with adjustable sidewall to grip the tire. The inside of the mechanical tire basket 2300 canbe equipped with rollers to rotate the tire for placement adjustment.

The mechanical tire basket 2300 is configured to grip the width of thetire via a basket 2310 and clap 2320. The width of the tire is eitheridentified by a vision system mounted on the mechanical tire basket 2300and a library of wheel sizes or determined via the same vision system.The tire basket 2300 has rollers 2330 embedded in the bottom of thebasket 2310 and a clap mechanism 2320 that extends or retracts toaccommodate various tire widths. The clap plate 2320 may be actuated viapneumatic or electric linear actuator, lead screws or telescopingcylinders. Additionally, the clap plate 2320 may be equipped withsensors (pressure, proximity, photoelectric, distance or fiber-optics)to detect that the mechanical tire basket 2300 has made contact, grippedand remains gripped while the wheel is being maneuvered by the roboticapparatus 150. The rollers 2330 are configured to rotate the wheel whilegripped to align the wheel to the mounting stud on the vehicle.

When a tire needs to be gripped, the vision systems detect the wheel inrelation to the robotic apparatus 150 and the robotic apparatus movesthe mechanical tire basket 2300 below the tire. The clap plate 2310extends to a predetermined width for that specific tire (which is eitherknown or determined by measuring the wheel width). The robotic apparatus150 moves the mechanical tire basket 2300 on the underside of the tireand the clap pate 2320 grips the tire.

Computer Vision

The system 100 may include a computer vision module (756 as referencedin FIG. 7) that processes obtained images. As described herein, variouscomponents may use computer vision cameras, or other sensors to assistin the location determination of physical aspects of the vehicle,physical geometry of physical aspects of the wheels of the vehicles.

FIG. 24 illustrates a schematic illustration of an image capture system2400 obtaining an image 2410 via a computer vision camera 2420 andlug-pattern determination 2430. The system 100 may determine the patternof lug nut bolts, where there is a determined four bolt pattern 2510, afive bolt pattern 2520, a six bolt pattern 2530 and/or an eight boltpattern 2540.

The system 100 may use a trained neural network to identify a lug nutpattern. For example, using machine learning training techniques, thesystem 100 may be trained with multiple images of a 4-pattern,5-pattern, 6-pattern, or 8 pattern lug nut configurations. Using thetrained model in a production mode, then the system 100 may identify alug nut pattern from a received image as an input to the trained neuralnetwork.

In reference to FIG. 24, the system 100 obtains an image of a wheel. Asdiscussed previously, the image may be obtained from different devicesor computers of the system 100, for example a digital camera coupled tothe robotic apparatus 150, or via a mobile device communicativelycoupled to the system 100. The system 100 may process the obtained imagevia the trained neural network as a data input, and an image classifiermay then determine the particular lug nut pattern type. The system 100may then use the lug nut pattern type as discussed herein.

The system 100 may also use an image object detection process toidentify the number of lug nuts of the wheel. For example, the system100 may receive an image and detect the number of lug nut objects of awheel depicted in the image. The system may identify the number of lugnuts, and set the lug nut pattern based on the number of lug nutsdetected. For example, if the system 100 detects 4 lug nut objects inthe image, then the system 100 may use a 4 lug nut pattern for lug nutremoval for a wheel. If the system 100 detects a 5 lug nut objects inthe image, then the system 100 may use a 5 lug nut pattern for lug nutremoval for a wheel. Based on the position of the detected objects, thesystem may calculate a centroid or center of the objects by connecting aline between each of the lug nut objects, and determining anintersection point of the lines. The determined centroid of the wheelmay be used to position the robotic apparatus for removal of the lugnuts from the wheel.

Additionally, fiducial markers may be placed on the vehicle to assistthe system 100 for determining locations. As an example, stickers withcertain patterns, colors, shapes, or a combination thereof, may beplaced on the vehicle. In the context of the vehicle lifting process,these fiducial markers may be placed on lifting points under the vehiclewhich would assist the vehicle lifting device in locating the liftingcontact points for the vehicle.

Additionally, fiducial markers may be placed on a wheel fastener toindicate a location of a lug nut. This may help the robotic apparatus150 in determining one or more positions of lug nuts of the vehicle.Fiducial markers may be wireless devices that may be affixed to thevehicle. The wireless device may be for example a blue-tooth enabledsocket that is placed onto the lug nut. The socket size of theblue-tooth enabled socket may be for example in the sizes of (SAE ¾inch, ⅞ inch, 13/16 inch; Metric 17 mm, 19 mm, 21 mm). Each of thewireless devices may emit a unique signal or signature that may berecognized by the system 100. Using multiple fiducial markers on the lugnuts the system 100 may determine the lug nut configuration of thewheel. The system 100 may detect the position of fiducial markers placedadjacently to one another, or placed across from one another, or placedon the second or third lug nut. The system 100 may then determine thecenter or centroid of two markers and calculate the distance between themarkers. Additionally, the system 100 may determine the angle of twolines from a first fiducial marker and to a second fiducial marker, andthen from the second fiducial marker to a third fiducial marker thathave been placed on the lug nuts.

Based on the position of the lug nuts the system may determine the boltpattern (for example the number of bolts and metric size in mm and/orimperial size in inches: 4-100, 4×3.94; 4-114.3, 4×4.5; 5-100, 5×3.94;5-108, 5×4.25; 5-112, 5×4.41; 5-114.3, 5×4.5; 5-115, 5×4.52; 5-12,5×4.72; 5-120.7, 5×4.75; 5-127, 5×5; 5-130, 5×5.12; 5-135, 5×5.3;5-139.7, 5×5.5; 6-114.3, 6×4.5; 6-127, 6×5; 6-135, 6×5.3; 6-139.7,6×5.5; 8-165.1, 8×6.5; 8-170, 8×6.69. The first number indicates howmany lug nuts are on the wheel, and the second number describes thedistance between two lug nuts. This is also referred to as the boldcircle diameter, or the pitch circle diameter. While the foregoingdiscusses the system 100 using fiducial markers to determine a boltpattern, the system 100 may also determine the bolt pattern usingcomputer vision by obtaining imagery of the bolts on the wheel and usingan object detection process to identify the centroid, or edge of the lugnuts. The number of bolts and the metric size in mm and/or imperial sizemay then be calculated by the system 100.

Referring to FIG. 25, four, five, six and eight bolt patterns are shown.The system using computer vision, fiducial makers, or other techniquesdescribed herein may determine the particular bolt pattern for thevehicle. The system 100 may then instruct the robotic apparatusaccordingly to remove and/or replace lug nuts. In determining theparticular size of the bolt pattern in the case of a vehicle with fourlug nuts 2510, the system 100 may measure the center of two holes thatare directly across from one another for example, lug nuts 2512, 2514.In determining the particular size of the bolt pattern in the case of avehicle with five lug nuts 2520, the system 100 may measure from thecenter on one lug nut 2522 to the back of the third lug nut 2524. Indetermining the particular size of the bolt pattern in the case of avehicle with six lug nuts 2530, the system 100 may measure the center oftwo holes that are directly across from one another for example, lugnuts 2532, 2534. In determining the particular size of the bolt patternin the case of a vehicle with eight lug nuts 2540, the system 100 maymeasure the center of two holes that are directly across from oneanother for example, lug nuts 2542, 2544.

Moreover, the system 100 may identify the fiducial markers in an imagetaken by a camera, for example an image taken by a camera of the vehiclelifting device 140 or a camera of the robotic apparatus 150. The system100 processes the image to detect objects in the image. Based on thedetected object, the system 100 may identify the position of the marker.A fiducial maker may be associated with a particular meaning or actionby the system 100. For example, based on a pattern or color of themarker, the system may identify the marker as lug nut location, alifting point location, etc.

Vehicle Service Report, and Real-Time Viewing.

The system 100 may include a reporting module (758 as referenced in FIG.7) that provides information related to the performance of the tirechange job. Since the robotic apparatus 150 and the vehicle liftingdevice 140 may include video cameras, and other sensors, still andreal-time imagery may be obtained during the lifting and wheel removaland replacement processes. The system 100 may be configured to streamthe imagery obtained from a digital camera to a user interface of amobile or web-based application thereby allowing a customer to view themaintenance of their vehicle. Additionally, the system may include a 2-or 3-dimensional model of their vehicle. The user interface may show thevehicle with tires being replaced indicative of the status of theoverall tire change job.

The system may generate a vehicle service report identifying the vehicledetails for a specific tire change job and may include one or moreimages that were obtained by the system during the vehicle check-in,vehicle lifting and/or wheel removal/replacement steps. The report maysuggest additional corrective or maintenance actions to be performed,such as the vehicle needing brake replacement. The report and associatedimages may show that no damage occurred during tire replacement andinstallation.

Tire Rotation

While the above disclosure describes the system 100 being appliedtowards wheel removal for tire replacement, the system 100 may also beused for tire rotation. In this case, the robotic apparatus 150 removeson a first side of the vehicle, a first wheel from the vehicle asdescribed above, and places the wheel and tire at a staging location.The robotic apparatus 150 removes on the first side of the vehicle, thesecond wheel from the vehicle and places the wheel and tire at a staginglocation. Either the same robotic apparatus 150, or another roboticapparatus, similarly removes the wheels from the other side of thevehicles. The system 100 then instructs the robotic apparatus 150 as towhich location a wheel will be replaced. For example, various rotationpatterns may be selected via a user interface, or be configured for adefault rotational pattern. This rotational pattern may be associatedwith the drive type of vehicle being serviced, such as all-wheel drive,rear-wheel drive, or front-wheel drive. The following are somerotational patterns the system 100 may use:

Forward Cross (primarily for front-wheel drive vehicles). The system 100directs the robotic apparatus 150 to move 1) the left front wheel to theleft rear, 2) the left rear wheel to the right front, 3) the right frontwheel to the right rear, and 4) the right rear wheel to the left front.

X-Pattern. The system 100 directs the robotic apparatus 150 to move 1)the left front wheel to the right rear, 2) the right rear wheel to theleft front, 3) the right front wheel to the left rear, and 4) the leftrear wheel to the right front.

Rearward Cross (primary pattern for rear and four-wheel drive vehicles).The system 100 directs the robotic apparatus 150 to move 1) the frontleft wheel to the right rear, 2) the right rear wheel to the rightfront, 3) the right front wheel to the left rear, and 4) the left rearwheel to the left front.

Same-side Pattern (pattern for vehicles with direction tires of the samesize). The system 100 directs the robotic apparatus 150 to move 1) thefront left wheel to the left rear, 2) the left rear wheel to the leftfront, 3) the right front wheel to the right rear, and 4) the right rearwheel to the right front.

Rotational Pattern (can be clockwise or counter-clockwise). The system100 directs the robotic apparatus 150 to move 1) the front left wheel tothe front right, 2) the front right wheel to the rear right, 3) the rearright wheel to the left rear, and 4) the left rear wheel to the frontleft.

While the rotational patterns above are described as beginning with aparticular wheel, the system 100 may direct the robotic apparatus 150 tobegin with any wheel and secure it to the desired wheel hub of thevehicle. The above patterns are meant to be exemplary, and not limiting.

Vehicle Interface

The system 100 may be configured to receive vehicle computerinformation. For example, a wired or wireless monitor may be connectedto a vehicle (for example, an OBD-II scanner), and information about thevehicle is retrieved and stored on the database 112. In otherembodiments, vehicles may have a wireless interface directly with thevehicle's system, for example those found in self-driving or autonomousvehicles. The system 100 may establish a link with the wireless vehicleinterface, and obtain information, and or provide information to thevehicle. For example, the vehicle may include preferred tire pressuresettings. This information may be obtained and used during the tireinflation process described above.

Tire Change Job Coordination

The system 100 may include a tire change job coordination module (754 asreferenced in FIG. 7) that evaluates the time necessary to complete atire change job. While the above disclosure describes the removal andreplacement of wheel for a singular vehicle, the system 100 may alsocontrol a plurality of robotic apparatus 150 to coordinate removaland/or replacement of wheels for two or more vehicles. For example, twovehicles may be positioned in a first bay and a second bay. The vehiclesare lifted to a desired height. The robotic apparatus 150 may interleavework to be performed on the first vehicle, and the second vehicle. Forexample, the robotic apparatus 150 may take off the front wheel of thefirst vehicle, and hand the wheel/tire off to a tire replacementmachine, or a wheel staging location. For the second vehicle, a new tiremay have already been replaced and the wheel is ready to be placed backon to the front wheel hub of the second vehicle. The robotic apparatus150 may then pick up the wheel, and place it back onto the wheel hub ofthe second vehicle. Next, the robotic apparatus 150 may remove the rearwheel off the second vehicle, and hand it off to the tire replacementmachine. The robotic apparatus 150 may then pick up the front wheel forthe first vehicle, and secure it back on to the first vehicle frontwheel hub.

As described the system 100 may interact with both vehicles and performa wheel removal or replacement operation in a sequential manner for bothvehicles. The system 100 may divide a tire change job into multiplesegmented operations. The system may direct a single robotic apparatus150 to perform one or more segmented operations for a first vehicle, andthen one or more segmented operations for a second vehicle. Thesegmented operations may have an associated duration or estimated timeneeded by the system to complete the segmented operation. Examples ofsegmented operations that may be performed by the system 100 using therobotic apparatus 150 may include:

Operation 1: Obtain sensor data describing a wheel using sensors of therobotic apparatus.

Operation 2: Determine a lug nut pattern based on the sensor dataobtained by the robotic apparatus.

Operation 3: Determine lug nut size based on the sensor data obtained bythe robotic apparatus.

Operation 4: Determine fiducial markers placed on a wheel based on thesensor data obtained by the robotic apparatus.

Operation 5: Determine wheel geometry, a plane of a surface of wheel,and/or position of wheel in 3-dimensional space based on the sensor dataobtained by the robotic apparatus.

Operation 6: Choose or select socket by the robotic apparatus for adetermined lug nut size.

Operation 7: Direct a socket onto a lug nut of a wheel of a vehicleusing the robotic apparatus.

Operation 8: Remove one or more lug nuts using the robotic apparatus byapplying counterclockwise motion of the socket placed onto a lug nut.

Operation 9: Detect using sensors of the robotic apparatus, rotationaltorque values while removing a lug nut.

Operation 10: Place a removed lug nut into a receiving bin or staginglocation by the robotic apparatus.

Operation 11: Grip tire with tire gripper using the robotic apparatus.

Operation 12: Determine gripping pressure of the tire gripper usingsensors of the robotic apparatus.

Operation 13: Remove a wheel from the wheel hub of the vehicle using therobotic apparatus.

Operation 14: Place removed wheel in a staging location or hand offwheel by the robotic apparatus to another device.

Operation 15: Retrieve the wheel from a staging location or from anotherdevice using the robotic apparatus.

Operation 16: Obtain sensor data describing a wheel using sensors of therobotic apparatus.

Operation 17: Determine a geometry and/or position of bolt holes of thewheel based on the sensor data obtained by the robotic apparatus.

Operation 18: Obtain sensor data describing a wheel hub using sensors ofthe robotic apparatus.

Operation 19: Determine wheel hub bolt orientation of vehicle based onthe sensor data obtained by the robotic apparatus.

Operation 20: Orient or rotate the retrieved wheel using the roboticapparatus to align the bolt holes of the wheel with the wheel hub boltorientation of the vehicle.

Operation 21: Place the wheel onto the wheel hub of the vehicle by therobotic apparatus.

Operation 22: Obtain from a predetermined location one or more lug nutsby the robotic apparatus.

Operation 23: Place the obtained lug nuts onto a hub bolt of the vehicleusing the robotic apparatus.

Operation 24: Direct a socket onto lug nut of a wheel of a vehicle usingthe robotic apparatus.

Operation 25: Replace one or more lug nuts using the robotic apparatusby applying clockwise motion of a socket placed onto a lug nut.

Operation 26: Detect using sensors of the robotic apparatus, rotationaltorque value while placing a lug nut.

The operations described above are not meant to be limiting, butillustrative of operations that may be performed by the system 100. Someof the operations may not be performed, the order of the operations maybe performed in a different order than listed above. The segmentedoperations may be performed by a single or multiple robotic apparatus150. The robotic apparatus 150 may perform segmented operations on afirst vehicle and on a second vehicle, thereby interleaving performanceof discrete operations for each vehicle.

In one example, the segmented operations may be performed in the sameorder for the first and second vehicle, for example the system 100 mayperform one or more of operations 1-14 on a first vehicle, and thenperform one or more operations 1-14 on a second vehicle. The system 100may then perform one or more operations 15-26 on the first vehicle, andthen perform one or more operations 15-26 on the second vehicle.

In another example, the segmented operations may be performed in adifferent order for the first and second vehicle, for example the system100 may perform one or more of operations 1-14 on a first vehicle, andthen perform one or more operations 15-26 on the second vehicle, and theperform one or more operations 15-26 on the first vehicle. The segmentedoperations may be ordered to minimize the total or overall processingtime for both vehicles or one vehicle.

The various features and processes described above may be usedindependently of one another, or may be combined in various ways. Allpossible combinations and sub-combinations are intended to fall withinthe scope of this disclosure. In addition, certain method or processblocks may be omitted in some implementations. The methods and processesdescribed herein are also not limited to any particular sequence, andthe blocks or states relating thereto can be performed in othersequences that are appropriate. For example, described blocks or statesmay be performed in an order other than that specifically disclosed, ormultiple blocks or states may be combined in a single block or state.The example blocks or states may be performed in serial, in parallel, orin some other manner. Blocks or states may be added to or removed fromthe disclosed example embodiments. The example systems and componentsdescribed herein may be configured differently than described. Forexample, elements may be added to, removed from, or rearranged comparedto the disclosed example embodiments.

It should be emphasized that many variations and modifications may bemade to the above-described embodiments, the elements of which are to beunderstood as being among other acceptable examples. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure. The foregoing description details certainembodiments of the invention. It will be appreciated, however, that nomatter how detailed the foregoing appears in text, the invention can bepracticed in many ways. As is also stated above, it should be noted thatthe use of particular terminology when describing certain features oraspects of the invention should not be taken to imply that theterminology is being re-defined herein to be restricted to including anyspecific characteristics of the features or aspects of the inventionwith which that terminology is associated.

1. A computer-implemented method for vehicle wheel removal andreplacement, the method comprising: positioning a tooling end of arobotic apparatus to a first wheel removal position of a first wheel ofa vehicle, the tooling end having a torque wrench for rotating a socketattached to the torque wrench, the first wheel having bolt holes and thefirst wheel being attached to a first wheel hub of the vehicle via aplurality of wheel fasteners fastened to the first wheel hub, the firstwheel having a first affixed tire; and performing a first wheel removaland replacement procedure comprising: sequentially removing each of thewheel fasteners from the first wheel hub using the torque wrench withthe attached socket; after each of the wheel fasteners has been removedfrom the first wheel hub, removing using a tire gripping mechanism thefirst wheel from the first wheel hub to another location; after a firstnew tire has been placed onto the first wheel, retrieving with the tiregripping mechanism the first new tire with the first wheel beingattached to the first new tire, and replacing the first wheel onto thefirst wheel hub; and while gripping the first new tire with the tiregripping mechanism, sequentially replacing the wheel fasteners onto thefirst wheel hub and tightening each of the wheel fasteners with thetorque wrench to a predetermined torque value.
 2. Thecomputer-implemented method of claim 1, further comprising: positioningthe tooling end of the robotic apparatus to a second wheel removalposition of a second wheel of the vehicle, the second wheel having boltholes and the second wheel being attached to a second wheel hub of thevehicle via a plurality of wheel fasteners fastened the second wheelhub, the second wheel having a second affixed tire; and performing asecond wheel removal and replacement procedure comprising: sequentiallyremoving each of the wheel fasteners from the second wheel hub using thetorque wrench with the attached socket; after each of the wheelfasteners has been removed from the second wheel hub, removing using atire gripping mechanism the second wheel from the first wheel hub toanother location; after a second new tire has been placed onto the firstwheel, retrieving with the tire gripping mechanism the second new tirewith the second wheel being attached to the first new tire, andreplacing the second wheel onto the second wheel hub; and while grippingthe second new tire with the tire gripping mechanism, sequentiallyreplacing the wheel fasteners onto the second wheel hub and tighteningeach of the wheel fasteners with the torque wrench to a predeterminedtorque value.
 3. The computer-implemented method of claim 1, whereinretrieving the first new tire comprises the operations of: directinggripping arms of the gripping mechanism to open from a range of 1.27 mmto 254 mm (0.5 to 10 inches) greater than a determined width value ofthe first new tire, the first new tire having a tread portion; and oncepositioned into place around the first new tire, actuating the grippingarms to close together against the tread portion of the first new tire.4. The computer-implemented method of claim 1, further comprisingdetermining a wheel fastener pattern for the first wheel, wherein thedetermined wheel fastener pattern is any one of a four wheel fastenerconfiguration, a five wheel fastener configuration, a six wheel fastenerconfiguration, or an eight wheel fastener configuration.
 5. Thecomputer-implemented method of claim 4, wherein determining a wheelfastener pattern comprises: identifying one or more fiducial markerslocated on at least one of the wheel fasteners; and determining thewheel fastener pattern based on the location of the one or more fiducialmarkers.
 6. The computer-implemented method of claim 1, whereindetermining a wheel fastener pattern comprises: receiving vehicleinformation identifying a unique make and model of a vehicle; and basedon the unique make and model of the vehicle, identifying the wheelfastener for the vehicle.
 7. The computer-implemented method of claim 1,wherein determining a wheel fastener pattern comprises: obtaining one ormore images of the first wheel; determining a wheel fastener patternbased on detecting wheel fastener objects in the one or more images; andbased on the number of detected wheel fastener objects, identifying thewheel fastener pattern as the four wheel fastener configuration, thefive wheel fastener configuration, the six wheel fastener configuration,or the eight wheel fastener configuration.
 8. The computer-implementedmethod of claim 7, further comprising: determining a centroid theobjects by connecting a line between each of the wheel fastener objectsand determining an intersection point of the lines; and positioning therobotic apparatus based on the determined centroid.
 9. Thecomputer-implemented method of claim 4, wherein determining the wheelfastener pattern comprises: receiving, from a user interface, aselection of pattern type of as the four wheel fastener configuration,the five wheel fastener configuration, the six wheel fastenerconfiguration, or the eight wheel fastener configuration.
 10. Thecomputer-implemented method of claim 1, further comprising: afterremoving a wheel fastener from the wheel hub, placing by the roboticapparatus the removed wheel fastener to a predetermined storagelocation; and retrieving by the robotic apparatus, each wheel fastenerfrom the predetermined location and replacing the retrieved wheelfastener onto the wheel hub.
 11. The computer-implemented method ofclaim 1, further comprising: determining a socket size to be used toremove the wheel fasteners; and retrieving by the robotic apparatus,from a group of stored sockets, a particular socket based on thedetermined socket size.
 12. The computer-implemented method of claim 11,wherein determining a socket size comprises: obtaining an image of thefirst wheel; and determining a socket size of a wheel fastener detectedin the image.
 13. The computer-implemented method of claim 1, furthercomprising: determining a plane of the first wheel based on obtainedsensor data describing the wheel in a three-dimensional space; and whileplacing the socket onto a wheel fastener, moving the socket by therobotic apparatus perpendicular to the determined plane of the wheel.14. An automated vehicle wheel removal and replacement systemcomprising: a computer system including one or more processors; and arobotic apparatus comprising control circuitry, the control circuitry ofthe robotic apparatus communicatively coupled to the computer system,wherein the computer system and the robotic apparatus are configured toperform operations, using the one or more processors, of: performing afirst wheel removal and replacement procedure comprising: sequentiallyremoving each of the wheel fasteners from the first wheel hub using thetorque wrench with the attached socket; after each of the wheelfasteners has been removed from the first wheel hub, removing using atire gripping mechanism the first wheel from the first wheel hub toanother location; after a first new tire has been placed onto the firstwheel, retrieving with the tire gripping mechanism the first new tirewith the first wheel being attached to the first new tire, and replacingthe first wheel onto the first wheel hub; and while gripping the firstnew tire with the tire gripping mechanism, sequentially replacing thewheel fasteners onto the first wheel hub and tightening each of thewheel fasteners with the torque wrench to a predetermined torque value.15. The system of claim 14, further comprising the operations of:positioning the tooling end of the robotic apparatus to a second wheelremoval position of a second wheel of the vehicle, the second wheelhaving bolt holes and the second wheel being attached to a second wheelhub of the vehicle via a plurality of wheel fasteners fastened thesecond wheel hub, the second wheel having a second affixed tire; andperforming a second wheel removal and replacement procedure comprising:sequentially removing each of the wheel fasteners from the second wheelhub using the torque wrench with the attached socket; after each of thewheel fasteners has been removed from the second wheel hub, removingusing a tire gripping mechanism the second wheel from the first wheelhub to another location; after a second new tire has been placed ontothe first wheel, retrieving with the tire gripping mechanism the secondnew tire with the second wheel being attached to the first new tire, andreplacing the second wheel onto the second wheel hub; and while grippingthe second new tire with the tire gripping mechanism, sequentiallyreplacing the wheel fasteners onto the second wheel hub and tighteningeach of the wheel fasteners with the torque wrench to a predeterminedtorque value.
 16. The system of claim 14, wherein retrieving the firstnew tire comprises the operations of: directing gripping arms of thegripping mechanism to open from a range of 1.27 mm to 254 mm (0.5 to 10inches) greater than a determined width value of the first new tire, thefirst new tire having a tread portion; and once positioned into placearound the first new tire, actuating the gripping arms to close togetheragainst the tread portion of the first new tire.
 17. The system of claim14, further comprising the operation of: determining a wheel fastenerpattern for the first wheel, wherein the determined wheel fastenerpattern is any one of a four wheel fastener configuration, a five wheelfastener configuration, a six wheel fastener configuration, or an eightwheel fastener configuration.
 18. The system of claim 17, whereindetermining a wheel fastener pattern comprises: identifying one or morefiducial markers located on at least one of the wheel fasteners; anddetermining the wheel fastener pattern based on the location of the oneor more fiducial markers.
 19. The system of claim 17, whereindetermining a wheel fastener pattern comprises: receiving vehicleinformation identifying a unique make and model of a vehicle; and basedon the unique make and model of the vehicle, identifying the wheelfastener for the vehicle.
 20. The system of claim 17, whereindetermining a wheel fastener pattern comprises: obtaining one or moreimages of the first wheel; determining a wheel fastener pattern based ondetecting wheel fastener objects in the one or more images; and based onthe number of detected wheel fastener objects, identifying the wheelfastener pattern as the four wheel fastener configuration, the fivewheel fastener configuration, the six wheel fastener configuration, orthe eight wheel fastener configuration.
 21. The system of claim 20,further comprising the operations of: determining a centroid the objectsby connecting a line between each of the wheel fastener objects anddetermining an intersection point of the lines; and positioning therobotic apparatus based on the determined centroid.
 22. The system ofclaim 17, wherein determining the wheel fastener pattern comprises:receiving, from a user interface, a selection of pattern type of as thefour wheel fastener configuration, the five wheel fastenerconfiguration, the six wheel fastener configuration, or the eight wheelfastener configuration.
 23. The system of claim 14, further comprisingthe operations of: after removing a wheel fastener from the bolt of thewheel hub, placing by the robotic apparatus the removed wheel fastenerto a predetermined storage location; and retrieving by the roboticapparatus, each wheel fastener from the predetermined location andreplacing the retrieved wheel fastener onto a bolt of the wheel hub. 24.The system of claim 14, further comprising the operations of:determining a socket size to be used to remove the wheel fasteners; andretrieving by the robotic apparatus, from a group of stored sockets, aparticular socket based on the determined socket size.
 25. The system ofclaim 24, wherein determining a socket size comprises: obtaining animage of the first wheel; and determining a socket size of a wheelfastener detected in the image.
 26. The system of claim 25, furthercomprising the operations of: determining a plane of the first wheelbased on obtained sensor data describing the wheel in athree-dimensional space; and while placing the socket onto a wheelfastener, moving the socket by the robotic apparatus perpendicular tothe determined plane of the wheel.